Yaskawa MP3200 Troubleshooting Manual

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Machine Controller MP3000 Series

MP3200/MP3300

TROUBLESHOOTING MANUAL

MANUAL NO. SIEP C880725 01B

Overview of Troubleshooting

Troubleshooting with Indicators

and Displays

Troubleshooting using

the System Monitor

Troubleshooting Communications

and Motion Control

Troubleshooting Programming

and Debugging

Troubleshooting Connections

with the MPE720

Troubleshooting System Errors

MP3200/MP3300 Battery Replacement

Fan Replacement

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this Manual

Chapter Title Troubleshooting

Chapter 1 Overview of Troubleshooting √ Chapter 2 Troubleshooting Errors with LED Indicators and Displays √ Chapter 3 Troubleshooting using the System Monitor √ Chapter 4 Troubleshooting Communications and Motion Control √ Chapter 5 Troubleshooting Programming and Debugging √ Chapter 6 Troubleshooting Connections with the MPE720 √ Chapter 7 Troubleshooting System Errors √ Chapter 8 MP3200/MP3300 Battery Replacement √ Chapter 9 Fan Replacement √

This manual describes troubleshooting the MP3200 and MP3300.

For information on troubleshooting Optional Modules, refer to the manual for your Optional Modules.

Read this manual carefully to ensure the correct usage of the Machine Controller in the control of your manufacturing system.

Keep this manual in a safe place so that it can be referred to whenever necessary.

Using this Manual

 Basic Terms

Unless otherwise specified, the following definitions are used:

• MP3200: A generic name for the Power Supply Unit, CPU Unit, Base Unit, and Rack Expansion Interface Unit.

• MP3300: A generic name for the CPU Module and Base Unit.

• MPE720: The Engineering Tool or a personal computer running the Engineering Tool

• PLC: A Programmable Logic Controller

• Machine Controller: An MP3000-series Machine Controller

• Motion Control Function Modules: The Function Modules in the Motion Modules and the Function Mod-

ules in the SVC, SVR, SVC 32, or SVR 32 built into the CPU Units/ CPU Modules.

 Manual Configuration

This manual consists of the chapters listed in the following table. Read the chapters of this manual as required for your application.

 MPE720 Engineering Tool Version Number

In this manual, the operation of MPE720 is described using screen captures of MPE720 version 7.

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Important

Note

Example

Information

Terms

 Copyrights

• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).

• Ethernet is a registered trademark of the Xerox Corporation.

• MPLINK is a registered trademark of Yaskawa Electric Corporation.

• Microsoft, Windows, Windows NT, and Internet Explorer are trademarks or registered trademarks of the Microsoft Corporation.

• PROFIBUS is a trademark of the PROFIBUS User Organization.

• MECHATROLINK is a trademark of the MECHATROLINK Members Association.

• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the

mark do not appear with product or company names in this manual.

 Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates precautions or restrictions that must be observed.

Indicates alarm displays and other precautions that will not result in machine damage.

Indicates items for which caution is required or precautions to prevent operating mistakes.

Indicates operating or setting examples.

Indicates supplemental information to deepen understanding or useful information.

Indicates definitions of difficult terms or terms that have not been previously explained in this manual.

Related Manuals

The following table lists the related manuals.

Be aware of all product specifications and restrictions to product application before you attempt to use any product.

Category Manual Name Manual Number Contents

Describes the functions of the MP2000/ MP3000-series Machine Controllers and the procedures that are required to use the Machine Controller, from installation and connections to settings, programming, trial operation, and debugging.

Describes the specifications and system configuration of an MP3000-series MP3200 Machine Controller and the functions of the CPU Unit.

Describes the specifications and system configuration of an MP3000-series MP3300 Machine Controller and the functions of the CPU Module.

Describes the functions, specifications, operating methods, maintenance, inspections, and troubleshooting of the MP2000-series MPU01 Multi-CPU Module.

Describes the specifications, system configuration, and communications connection methods for the Ethernet communications that are used with an MP3000-series Machine Controller.

Describes the specifications, system configuration, and operating methods for the SVC, SVC32, SVR, and SVR32 Motion Function Modules that are used in an MP3000-series Machine Controller.

Describes the functions, specifications, and operating methods of the MP2000-series PO01 Motion Module.

Describes the functions, specifications, and operating methods of the MP2000-series SVA-01 Motion Module.

Describes the functions, specifications, and operating methods of MP2000-series Motion Modules (built-in Function Modules: SVB, SVB-01, and SVR).

Describes the functions, specifications, and operating methods of the MP2000-series PO01 Motion Module.

Continued on next page.

Basic functionality

Communications functionality

Motion control functionality

Machine Controller MP2000/MP3000 Series Machine Controller System Setup Manual

Machine Controller MP3000 Series MP3200 User’s Manual

Machine Controller MP3000 Series MP3300 Product Manual

Machine Controller MP2000 Series MPU-01 Multi-CPU Module User’s Manual

Machine Controller MP3000 Series Communications User's Manual

Machine Controller MP3000 Series Motion Control User's Manual

Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Module User's Manual

Machine Controller MP2000 Series SVC-01 Motion Module User's Manual

Machine Controller MP2000 Series SVA-01 Motion Module User's Manual

Machine Controller MP2000 Series Pulse Output Motion Module PO-01 User's Manual

SIEP C880725 00

SIEP C880725 10

SIEP C880725 21

SIEP C880781 05

SIEP C880725 12

SIEP C880725 11

SIEP C880700 33

SIEP C880700 41

SIEP C880700 32

SIEP C880700 28

Category Manual Name Manual Number Contents

Describes the ladder programming specifications and instructions of MP3000-series Machine Controller.

Describes the motion programming and sequence programming specifications and instructions of MP3000-series Machine Controller.

Programming

Engineering Tools

Machine Controller MP3000 Series Ladder Programming Manual

Machine Controller MP3000 Series Motion Programming Manual

MPE720 Version 7 System Integrated Engineering Tool for MP2000/MP3000 Series Machine Controller User’s Manual

SIEP C880725 13

SIEP C880725 14

SIEP C880761 03 Describes how to operate MPE720 version 7.

Continued from previous page.

Safety Precautions

WARNING

CAUTION

PROHIBITED

MANDATORY

WARNING

The following signal words and marks are used to indicate safety precautions in this manual.

Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.

Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or property damage.

If not heeded, even precautions classified as cautions ( ) can lead to serious results depending on circumstances.

Indicates prohibited actions. For example, indicates prohibition of open flame.

Indicates mandatory actions. For example, indicates that grounding is required.

The following precautions are for storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. These precautions are important and must be observed.

 General Precautions

• The installation must be suitable and it must be performed only by an experienced technician.

There is a risk of electrical shock or injury.

• Before connecting the machine and starting operation, make sure that an emergency stop procedure has been provided and is working correctly.

There is a risk of injury.

• Do not approach the machine after a momentary interruption to the power supply. When power is restored, the Machine Controller and the device connected to it may start operation suddenly. Provide safety measures in advance to ensure human safety when operation restarts.

There is a risk of injury.

• Do not touch anything inside the Machine Controller.

There is a risk of electrical shock.

• Do not remove the front cover, cables, connector, or options while power is being supplied.

There is a risk of electrical shock, malfunction, or damage.

• Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch the cables.

There is a risk of electrical shock, operational failure of the Machine Controller, or burning.

• Do not attempt to modify the Machine Controller in any way.

There is a risk of injury or device damage.

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CAUTION

 Storage and Transportation

• Do not store the Machine Controller in any of the following locations.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed the storage conditions

• Locations that are subject to ambient humidity that exceeds the storage conditions

• Locations that are subject to rapid temperature changes and condensation

• Locations that are subject to corrosive or inflammable gas

• Locations that are subject to excessive dust, dirt, salt, or metallic powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock There is a risk of fire, electrical shock, or device damage.

• Hold onto the main body of the Machine Controller when transporting it.

Holding the cables or connectors may damage them or result in injury.

• Do not overload the Machine Controller during transportation. (Follow all instructions.)

There is a risk of injury or an accident.

• Never subject the Machine Controller to an atmosphere containing halogen (fluorine, chlorine, bromine, or iodine) during transportation.

There is a risk of malfunction or damage.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used.

Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

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 Installation

• Do not install the Machine Controller in any of the following locations.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed the operating conditions

• Locations that are subject to ambient humidity that exceeds the operating conditions

• Locations that are subject to rapid temperature changes and condensation

• Locations that are subject to corrosive or inflammable gas

• Locations that are subject to excessive dust, dirt, salt, or metallic powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock There is a risk of fire, electrical shock, or device damage.

• Never install the Machine Controller in an atmosphere containing halogen (fluorine, chlorine, bromine, or iodine).

There is a risk of malfunction or damage.

• Do not step on the Machine Controller or place heavy objects on the Machine Controller.

There is a risk of injury or an accident.

• Do not block the air exhaust ports on the Machine Controller. Do not allow foreign objects to enter the Machine Controller.

There is a risk of internal element deterioration, malfunction, or fire.

• Always mount the Machine Controller in the specified orientation.

There is a risk of malfunction.

• Leave the specified amount of space between the Machine Controller, and the interior surface of the control panel and other devices.

There is a risk of fire or malfunction.

• Do not subject the Machine Controller to strong shock.

There is a risk of malfunction.

• Suitable battery installation must be performed and it must be performed only by an experienced technician.

There is a risk of electrical shock, injury, or device damage.

• Do not touch the electrodes of the Battery.

Static electricity may damage the electrodes.

CAUTION

 Wiring

• Check the wiring to be sure it has been performed correctly.

There is a risk of motor run-away, injury, or accidents.

• Always use a power supply of the specified voltage.

There is a risk of fire or accident.

• In places with poor power supply conditions, ensure that the input power is supplied within the specified voltage range.

There is a risk of device damage.

• Install breakers and other safety measures to provide protection against shorts in external wiring.

There is a risk of fire.

• Provide sufficient shielding when using the Machine Controller in the following locations.

• Locations that are subject to noise, such as from static electricity

• Locations that are subject to strong electromagnetic or magnetic fields

• Locations that are subject to radiation

• Locations that are near power lines There is a risk of device damage.

• Configure the circuits to turn ON the power supply to the CPU Unit/CPU Module before the 24V I/O power supply. Refer to the following manual for details on circuits.

MP3000 Series CPU Unit Instructions (Manual No.: TOBP C880725 16)

MP3000 Series MP3300 CPU Module Instructions Manual (Manual No.: TOBP C880725 23)

If the power supply to the CPU Unit/CPU Module is turned ON after the external power supply, e.g., the 24-V I/O power supply, the outputs from the CPU Unit/CPU Module may momentarily turn ON when the power supply to the CPU Unit/CPU Module turns ON. This can result in unexpected operation that may cause injury or device damage.

• Provide emergency stop circuits, interlock circuits, limit circuits, and any other required safety measures in control circuits outside of the Machine Controller.

There is a risk of injury or device damage.

• If you use MECHATROLINK I/O Modules, use the establishment of MECHATROLINK communications as an interlock output condition.

There is a risk of device damage.

• Connect the Battery with the correct polarity.

There is a risk of battery damage or explosion.

• Suitable battery replacement must be performed and it must be performed only by an experienced technician.

There is a risk of electrical shock, injury, or device damage.

• Do not touch the electrodes when replacing the Battery.

Static electricity may damage the electrodes.

• Select the I/O signal wires for external wiring to connect the Machine Controller to external devices based on the following criteria:

• Mechanical strength

• Noise interference

• Wiring distance

• Signal voltage

• Separate the I/O signal cables for control circuits from the power cables both inside and outside

Example of Separated Cables

Power cable

I/O signal

cables in

control circuits

Steel separator

the control panel to reduce the influence of noise from the power cables.

If the I/O signal lines and power lines are not separated properly, malfunction may occur.

 Operation

CAUTION

• Follow the procedures and instructions in the user’s manuals for the relevant products to perform normal operation and trial operation.

Operating mistakes while the Servomotor and machine are connected may damage the machine or even cause accidents resulting in injury or death.

• Implement interlock signals and other safety circuits external to the Machine Controller to ensure safety in the overall system even if the following conditions occur.

• Machine Controller failure or errors caused by external factors

• Shutdown of operation due to Machine Controller detection of an error in self-diagnosis and the subse-

quent turning OFF or holding of output signals

• Holding of the ON or OFF status of outputs from the Machine Controller due to fusing or burning of out-

put relays or damage to output transistors

• Voltage drops from overloads or short-circuits in the 24-V output from the Machine Controller and the

subsequent inability to output signals

• Unexpected outputs due to errors in the power supply, I/O, or memory that cannot be detected by the

Machine Controller through self-diagnosis.

There is a risk of injury, device damage, or burning.

• Observe the setting methods that are given in the manual for the following parameters.

• Parameters for absolute position detection when the axis type is set to a finite-length axis

• Parameters for simple absolute infinite-length position control when the axis type is set to an infinite-

length axis

MP3000 Series Motion Control User’s Manual (Manual No. SIEP C880725 11)

If any other methods are used, offset in the current position when the power supply is turned OFF and ON again may result in device damage.

•OL48 (Zero Point Position Offset in Machine Coordinate System) is always valid when the axis type is set to a finite-length axis. Do not change the setting of OL48 while the Machine Controller is operating.

There is a risk of machine damage or an accident.

CAUTION

Example

Axis 1

Axis 2

Axis 3

Each axis is moved independently at rapid traverse speed.

Current position

Positioning operation

End position

Axis 2

Axis 1

Axis 3

Example of Basic Path for Positioning (MOV) Instruction

• Always check to confirm the paths of axes when any of the following axis movement instructions are used in programs to ensure that the system operates safely.

• Positioning (MOV)

• Linear Interpolation (MVS)

• Circular Interpolation (MCC or MCW)

• Helical Interpolation (MCC or MCW)

• Set-time Positioning (MVT)

• Linear Interpolation with Skip Function (SKP)

• Zero Point Return (ZRN)

• External Positioning (EXM)

There is a risk of injury or device damage.

• The same coordinate word will create a completely different travel operation in Absolute Mode and in Incremental Mode. Make sure that the ABS and INC instructions are used correctly before you start operation.

There is a risk of injury or device damage.

• The travel path for the Positioning (MOV) instructions will not necessarily be a straight line. Check to confirm the paths of the axis when this instruction is used in programs to ensure that the system operates safely.

There is a risk of injury or device damage.

• The Linear Interpolation (MVS) instruction can be used on both linear axes and rotary axes. However, if a rotary axis is included, the linear interpolation path will not necessarily be a straight line. Check to confirm the paths of the axis when this instruction is used in programs to ensure that the system operates safely.

There is a risk of injury or device damage.

• The linear interpolation for the Helical Interpolation (MCW and MCC) instructions can be used for both linear axes and rotary axes. However, depending on how the linear axis is taken, the path of helical interpolation will not be a helix. Check to confirm the paths of the axis when this instruction is used in programs to ensure that the system operates safely.

There is a risk of injury or device damage.

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CAUTION

Example

Example of Working Coordinate System Created with the Set Current Position (POS) Instruction

• Unexpected operation may occur if the following coordinate instructions are specified incorrectly: Always confirm that the following instructions are specified correctly before you begin operation.

• Absolute Mode (ABS)

• Incremental Mode (INC)

• Current Position Set (POS)

Axis 2

(0, 0)

Machine coordinate system

(Axis 1)

Working coordinate system

Current position

(Axis 2)

Axis 1

There is a risk of injury or device damage.

• The Set Current Position (POS) Instruction creates a new working coordinate system. Therefore, unexpected operation may occur if the POS instruction is specified incorrectly. When you use the POS instruction, always confirm that the working coordinate system is in the correct position before you begin operation.

There is a risk of injury or device damage.

• The Move on Machine Coordinates (MVM) instruction temporarily performs positioning to a coordinate position in the machine coordinate system. Therefore, unexpected operation may occur if the instruction is executed without confirming the zero point position in the machine coordinate system first. When you use the MVM instruction, always confirm that the machine zero point is in the correct position before you begin operation.

There is a risk of injury or device damage.

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CAUTION

 Maintenance and Inspection

• Do not attempt to disassemble or repair the Machine Controller.

There is a risk of electrical shock, injury, or device damage.

• Do not change any wiring while power is being supplied.

There is a risk of electrical shock, injury, or device damage.

• Suitable battery replacement must be performed and it must be performed only by an experienced technician.

There is a risk of electrical shock, injury, or device damage.

• Replace the Battery only while power is supplied to the Machine Controller.

Replacing the Battery while the power supply to the Machine Controller is turned OFF may result in loss of the data stored in memory in the Machine Controller.

• When you replace the Battery, do not touch the electrodes of the Battery.

There is a risk of electrostatic discharge failure.

• Do not forget to perform the following tasks when you replace the CPU Unit/CPU Module:

• Back up all programs and parameters from the CPU Unit/CPU Module that is being replaced.

• Transfer all saved programs and parameters to the new CPU Unit/CPU Module. If you operate the CPU Unit/CPU Module without transferring this data, unexpected operation may occur. There is a risk of injury or device damage.

• Do not touch the heat sink on the CPU Unit/CPU Module while the power supply is turned ON or for a sufficient period of time after the power supply is turned OFF.

The heat sink may be very hot, and there is a risk of burn injury.

 Disposal

• Dispose of the Machine Controller as general industrial waste.

• Observe all local laws and ordinances when you dispose of used Batteries.

 Other General Precautions

Observe the following general precautions to ensure safe application.

• The products shown in the illustrations in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The illustrations that are presented in this manual are typical examples and may not match the product you received.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

xiv

Warranty

 Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

This warranty does not cover failures that result from any of the following causes.

• Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

• Causes not attributable to the delivered product itself

• Modifications or repairs not performed by Yaskawa

• Abuse of the delivered product in a manner in which it was not originally intended

• Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa

• Events for which Yaskawa is not responsible, such as natural or human-made disasters

 Limitations of Liability

• Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

• Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

• The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

• Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

 Suitability for Use

• It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

• Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

• Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

• The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

• Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

 Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

xvi

About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Using this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

Overview of Troubleshooting

1.1

1.2

Basic Troubleshooting Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Checking for Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Troubleshooting with Indicators and Displays

2.1

2.2

2.3

Power Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Power Supply Unit Indicators (MP3200) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Base Unit Indicators (MP3300) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

CPU Unit/CPU Module Indicators and Display . . . . . . . . . . . . . . . . . . . . . 2-3

Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

USB Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

MECHATROLINK-III Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16

Ethernet Connector Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

Rack Expansion Interface Unit Indicators. . . . . . . . . . . . . . . . . . . . . . . . 2-18

Troubleshooting using the System Monitor

3.1

3.2

Overview of the System Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Troubleshooting Errors with the System Monitor . . . . . . . . . . . . . . . . . . . 3-3

System Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Scan Time Exceeded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Investigating Operation Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Investigating I/O Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Troubleshooting Communications and Motion Control

4.1

Troubleshooting Ethernet Communications . . . . . . . . . . . . . . . . . . . . . . . 4-2

Checking Ethernet Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

Checking the Ethernet Communications Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

Troubleshooting Quick Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

xvii

4.2

Troubleshooting Motion Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7

Troubleshooting Motion Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

Checking Status and Alarms of a Reference-type SERVOPACK

with MECHATROLINK-III Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

Troubleshooting Programming and Debugging

5.1

5.2

Troubleshooting Motion Program Alarms . . . . . . . . . . . . . . . . . . . . . . . . .5-2

Checking for Motion Program Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Structure of Motion Program Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-5

Motion Program Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

Troubleshooting Message Communications. . . . . . . . . . . . . . . . . . . . . .5-10

Checking the Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-13

Message Communications Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

Communications Stopped during Message Communications . . . . . . . . . . . . . . . . . . . . .5-36

Other Problems during Message Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-38

Troubleshooting Connections with the MPE720

6.1

6.2

6.3

6.4

6.5

6.6

Troubleshooting Flowchart When the MPE720 Cannot Go Online with the Machine Controller

Checking for Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

Connection Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

Communications Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

Model Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4

Checking the IP Address of the PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5

Checking the Communications Settings . . . . . . . . . . . . . . . . . . . . . . . . . .6-7

Checking the Communications Platform. . . . . . . . . . . . . . . . . . . . . . . . .6-10

Communications Timeout Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12

Troubleshooting System Errors

7.1

7.2

Overall Configuration of the System Registers . . . . . . . . . . . . . . . . . . . . .7-2

Viewing the Contents of the System Registers. . . . . . . . . . . . . . . . . . . . .7-4

. .6-2

xviii

7.3

7.4

Troubleshooting for the ERR Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5

Troubleshooting for the ALM Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6

7.5

System Register Configuration and Error Status . . . . . . . . . . . . . . . . . . . 7-7

CPU System Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

System Error Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

User Operation Error Status in Ladder Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-11

System Service Execution Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14

System I/O Error Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15

Security Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15

USB-related System Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16

Message Relaying Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16

Error Status for Individual Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17

Interrupt Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-34

Module Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-36

MPU-01 System Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-47

Motion Program Execution Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-48

Extended System I/O Error Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-59

Extended Unit and Module Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-64

Extended System Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-69

Extended System Service Execution Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-70

Alarm History Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-70

Product Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-72

Unit and Rack Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-73

Data Logging Execution Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-75

Automatic Reception Status (Ethernet Communications) . . . . . . . . . . . . . . . . . . . . . . . 7-76

MP3200/MP3300 Battery Replacement

8.1

8.2

MP3200 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

MP3300 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5

Fan Replacement

Index

Revision History

xix

Overview of Troubleshooting

This chapter describes the basic troubleshooting and error confirmation procedures.

1.1

1.2

Basic Troubleshooting Procedure . . . . . . . . . . . . 1-2

Checking for Errors . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.1 Basic Troubleshooting Procedure

1.1

Basic Troubleshooting Procedure

When a problem occurs, it is important to recover normal system operation as soon as possible by finding the cause of the problem and taking the necessary measures. The basic troubleshooting procedure is outlined below.

Step 1

Check the following items visually.

• Machine movement, or status if stopped

• Power supply status

• I/O device status

• Wiring conditions

• Status of indicators and display on Units or Modules

• Switch settings (e.g., DIP switches)

• Parameter settings and program contents

Step 2

See if the problem changes when the following operations are performed.

• Stop the Machine Controller.

• Reset the alarms.

• Turn the power supply OFF and ON again.

Step 3

Isolate the location of the problem from the results of steps 1 and 2.

• Inside or outside of the Machine Controller?

• Software or hardware?

• Sequence control or motion control?

• Ethernet communications or MECHATROLINK communications?

1-2

1.2 Checking for Errors

Overview of Troubleshooting

Information

1.2

Checking for Errors

This section describes the errors that can occur when using the Machine Controller, and how to troubleshoot them.

Follow the troubleshooting procedures outlined below if a problem occurs with the Machine Controller.

Check the status of the indicators on the Machine Controller.

Refer to the following sections for details on checking the status of indicators on the Machine Controller.

2.1 Power Indicators (page 2-2)

2.2 CPU Unit/CPU Module Indicators and Display (page 2-3)

2. Connect the MPE720 to the Machine Controller to check the error information.

If the CPU Unit/CPU Module is not functioning properly, check the status of the indicators on the CPU Unit/CPU Module. Then use the MPE720 to check for errors.

• If a system error and a scan time exceeded error have occurred:

Chapter 3 Troubleshooting using the System Monitor

• If an Ethernet communications error or a motion control error has occurred:

Chapter 4 Troubleshooting Communications and Motion Control

• If an error occurred in a motion program or during message communications:

Chapter 5 Troubleshooting Programming and Debugging

• If you cannot go online with the MPE720:

Chapter 6 Troubleshooting Connections with the MPE720

• If you want to investigate a system error:

Chapter 7 Troubleshooting System Errors

1-3

Troubleshooting with Indicators and Displays

This chapter describes troubleshooting procedures with the indicators and the display on the Machine Controller.

2.1

2.2

2.3

Power Indicators . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Power Supply Unit Indicators (MP3200) . . . . . . . . . . . . . . . . . 2-2

Base Unit Indicators (MP3300) . . . . . . . . . . . . . . . . . . . . . . . . 2-2

CPU Unit/CPU Module Indicators and Display . . 2-3

Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

USB Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

MECHATROLINK-III Status Indicators . . . . . . . . . . . . . . . . . 2-16

Ethernet Connector Indicators . . . . . . . . . . . . . . . . . . . . . . . 2-17

Rack Expansion Interface Unit Indicators . . . . . 2-18

2.1 Power Indicators

POWER

Power Supply Unit Indicators (MP3200)

2.1

Power Indicators

You can check the power supply loading status with the power indicators on the MP3000. With the MP3200, the indicators are on the Power Supply Unit, and with the MP3300, there is an indicator on the Base Unit. This section describes the power indicators for the MP3200 and MP3300.

Power Supply Unit Indicators (MP3200)

This section describes how to check the load on the Power Supply Unit.

The following table gives the relation between the indicators on the Power Supply Unit and the load on the Power Supply Unit.

Load Normal Error

Green 

Indicators

Note: 1. : Lit, : Not lit.

2. The indicators show the status when the Power Supply Unit is turned ON.

Check the status in the above table and perform the actions given below if the power loading status indicates an error.

Ye ll o w 

Red  

Load Cause Correction

• Reduce the number of Optional Modules installed on the Base Unit.

• Reduce the number of Units.

Error

The load exceeds the capacity of the Power Supply Unit.

Base Unit Indicators (MP3300)

With the MP3300, you can check the power supply loading status on the Base Unit.

The following table shows the relation between the load status of the Rack power supply and the indicator on the Power Supply Unit.

Load Normal Error

LED Green 

Check the status in the above table and perform the actions given below if the power loading status indicates an error.

Load Cause Correction

Error

The load exceeds the capacity of the Power Supply Unit.

Reduce the number of Optional Modules installed on the Base Unit.

2-2

2.2 CPU Unit/CPU Module Indicators and Display

Troubleshooting with Indicators and Displays

Status Indicators

2.2

CPU Unit/CPU Module Indicators and Display

You can use the indicators on the CPU Unit/CPU Module to check the error status of the CPU Unit/CPU Module.

After you check the error status, the system (S) registers will help you isolate the program location that needs to be corrected.

Refer to the following chapter for details on system registers.

Chapter 7 Troubleshooting System Errors

The CPU Unit/CPU Module has the following display and four types of indicators.

•Display

• Status indicators

• USB status indicator

• MECHATROLINK-III status indicators

• Ethernet status indicators

The error status and error details can be checked using the above display and indicators.

The display and indicators will give you a general idea of what the error is and the system (S) registers will help you isolate the program location that needs to be corrected.

Status Indicators

These indicators show the status of the CPU Unit/CPU Module.

2-3

2.2 CPU Unit/CPU Module Indicators and Display

Status Indicators

The patterns of the status indicators are described in the following table.

Indicator Status

RDY

(Green)

RUN

(Green)

ALM

(Red)

ERR

(Red)

  −  Hardware reset Normally, the CPU Unit  −  Initialization

− 

Normal

− 

− 

Note: : Not lit, : Lit, : Flashing, −: Any status

BAT

(Red)

M_ALM

(Red)

CPU Unit/CPU

Module Status

Drawing A is being executed.

The user programs are stopped (offline stop mode).

The user programs are being executed normally.

Description

will start within 10 seconds. If more than 10 seconds is required, there is an error in a user program or a hardware error. Refer to the following section for information on system errors and implement corrections.

Chapter 7 Troubleshooting System Errors

• The stop operation was performed from the MPE720.

• This is the status after the STOP switch is turned ON. It is not an error.

Normal operation is in progress.

Continued on next page.

2-4

2.2 CPU Unit/CPU Module Indicators and Display

Troubleshooting with Indicators and Displays

Indicator Status

RDY

(Green)

RUN

(Green)

ALM

(Red)

ERR

(Red)

BAT

(Red)

M_ALM

(Red)



 − 

Error

 − 

−−−−− Motion error

CPU Unit/CPU

Module Status

A serious failure error occurred.

Software Errors: Number of Flashes

2: Machine check exception 3: DSI (writing) exception 4: ISI exception

5: Alignment exception

6: DDR DRAM memory error exception

7: DTLB exception 8: ITLB exception

Hardware Errors: Number of Flashes

2: RAM diagnostic error 3: ROM diagnostic error 4: CPU Function Module diagnostic error

5: FPU Function Module diagnostic error

Status Indicators

Continued from previous page.

Description

If the ERR indicator is lit, there is a hardware failure or a user program error. Refer to the following section for the corrective actions to take when the ERR indicator is lit.

7.3 Troubleshooting for the ERR Indicator (page 7-5)

A hardware failure has occurred. Replace the Unit or Module.

If the M_ALM indicator is lit, there is an error in the Motion Control Function Module. Refer to the following section for details on motion errors.

4.2 Troubleshooting Motion Errors (page 4-7)

Continued on next page.

2-5

2.2 CPU Unit/CPU Module Indicators and Display

Status Indicators

Indicator Status

RDY

(Green)

RUN

(Green)

ALM

(Red)

−−−− − Battery alarm

Alarms

−−

Note: : Not lit, : Lit, : Flashing, −: Any status

ERR

(Red)

BAT

(Red)

M_ALM

(Red)

CPU Unit/CPU

Module Status

Operation error I/O error

Continued from previous page.

Description

If the BAT indicator is lit, the Battery must be replaced. Refer to the following section for the Battery replacement procedure.

Chapter 8 MP3200/MP3300 Battery Replacement

If the ALM indicator is lit, there is an operation error or an I/O error. Refer to the following section for the corrective actions to take when the ALM indicator is lit.

7.4 Troubleshooting for the ALM Indicator (page 7-6)

2-6

2.2 CPU Unit/CPU Module Indicators and Display

Troubleshooting with Indicators and Displays

Display

If an error or alarm occurs, details will be displayed on the display. This section describes the display patterns and corresponding errors.

Display Category Description

A 3-digit error code is displayed after E, like this:

E001: Watchdog timer error

E051: Module synchronization error

E052: Main CPU Unit system down detected

E061: Unit configuration error on Rack 1

E062: Unit configuration error on Rack 2

E063: Unit configuration error on Rack 3

E064: Unit configuration error on Rack 4

E065: Unit configuration error on Rack 5

E066: Unit configuration error on Rack 6

E067: Unit configuration error on Rack 7

E070: Unsupported Sub CPU mode

E071: Unsupported Module detected

E080: CPU mode mismatch

E081: CPU stopped for internal temperature error 1

E082 CPU stopped for internal temperature error 2

E083: Fan stopped

E090: Hardware error 1

E091: Hardware error 2

E092: Hardware error 3

Continued on next page.

followed by error

code

System error

2-7

2.2 CPU Unit/CPU Module Indicators and Display

Display

Display Category Description

followed by error

Alarm

code

Continued from previous page.

A 3-digit error code is displayed after A, like this:

A001: Operation error in DWG.A

A002: Operation error in DWG.I

A003: Operation error in DWG.H

A005: Operation error in DWG.L

A101: I/O error on Rack 1

A102: I/O error on Rack 2

A103: I/O error on Rack 3

A104: I/O error on Rack 4

A105: I/O error on Rack 5

A106: I/O error on Rack 6

A107: I/O error on Rack 7

A201: Insufficient power supply capacity warning 1 for

Rack 1

A205: Insufficient power supply capacity warning 1 for

Rack 5

A206: Insufficient power supply capacity warning 1 for

Rack 6

A207: Insufficient power supply capacity warning 1 for

Rack 7

A211: Insufficient power supply capacity warning 2 for

Rack 1

A215: Insufficient power supply capacity warning 2 for

Rack 5

A216: Insufficient power supply capacity warning 2 for

Rack 6

A217: Insufficient power supply capacity warning 2 for

Rack 7 A221: Power interruption detected on Expansion Rack 1

A225: Power interruption detected on Expansion Rack 5

A226: Power interruption detected on Expansion Rack 6

A227: Power interruption detected on Expansion Rack 7

A230: Hardware error 4

A240: Fan stopped

A241: Internal temperature rise detected

A301: USB memory write error

A302: USB memory read error

A303: Security error

A305: Folder for batch loading does not exist.

A306: Load file model mismatch error

A307: Loading error due to program write protection

A308: Load file write error

A309: Save to flash memory error

A30A:Save file read error

A30B: No USB memory device

A370: Log folder creation error

A371: Log file creation error

A372: Log file writing error

A401: M-III restrictions error

A402: Error in MPU-01

A403: Error in Sub CPU

Continued on next page.

2-8

2.2 CPU Unit/CPU Module Indicators and Display

Troubleshooting with Indicators and Displays

Continued from previous page.

Display Category Description

Display

followed by error

code

− h: CPU stopped by failsafe function

Troubleshooting Alarms

The following table describes the causes and corrections of alarms that are displayed on the display. Checkmarks () indicate when the alarm codes are displayed by the MP3200 or MP3300.

Alarm Code

Alarm Name

E001: Watchdog timer error

E051: Module synchronization error

E052: Main CPU Unit system down detected

MP3200

MP3300



There is an infinite loop in a user program.

The maximum value of the scan time does not meet the following conditions.

• The scan times for the

• The set values must be

The main CPU failed.

A synchronization error occurred for an Optional Module.

A watchdog error occurred in the Main CPU.

Cause Confirmation Method Correction

Check the FOR and WHILE instructions for the possibility of infinite loops. Turn ON the STOP switch and turn the power supply OFF and ON again.

Check the set values of the scan times for the highspeed (H) scan and the

low-speed (L) scan in relahigh-speed (H) scan and the low-speed (L) scan must be set to values that are higher than the maximum scan times.

1.25 times the maximum values.

tion to the maximum val-

ues of the scan times.

You can check the set val-

ues and maximum values

of the high-speed (H) scan

and the low-speed (L) scan

in SW00004 to SW00012.

Turn the power supply

OFF and ON again to see

if an alarm occurs. If an

alarm occurs even after the

power supply is turned

OFF and ON again several

times, the CPU may be

faulty.

Turn the power supply

OFF and ON again to see

if an alarm occurs. If an

alarm occurs even after the

power supply is turned

OFF and ON again several

times, the Optional Mod-

ule may be faulty.

Check the indicators or

system registers for the

Main CPU.

Correct the ladder program.

Correct the set values of the scan times.

Replace the CPU.

Check the SW00076 system register to identify the Optional Module with the error and replace the Optional Module.

Clear the cause of the watchdog error from the Main CPU.

Continued on next page.

2-9

2.2 CPU Unit/CPU Module Indicators and Display

Display

Continued from previous page.

Alarm Code

Alarm Name

E061: Unit configuration error

E062: Unit configuration error

E063: Unit configuration error

E064: Unit configuration error

E065: Unit configuration error

E066: Unit configuration error

E067: Unit configuration error

E070: Unsupported Sub CPU mode

E071: Unsupported Module detected

E080: CPU mode mismatch

E081: CPU stopped for

internal temperature error 1

E082: CPU stopped for internal temperature error 2

E083: Fan stopped (1 minute)

MP3200

MP3300

 −



 −



 −

Cause Confirmation Method Correction

There is a configuration error on Rack . : 1 to 7

A CPU version that does not support operation as a Sub CPU was mounted as a Sub CPU.

A Module that cannot be used was mounted.

The Main CPU contains a Sub CPU project.

Or a Sub CPU contains a Main CPU project.

The te

mperature contin-

ued

to increase even further after A241 was detected and is approaching the permissible temperature of the internal parts.

The temperature continued to increase even after E081 was detected and has reached the permissible temperature of the internal parts.

The Fan stopped continuously for 1 minute.

Check the following conditions.

• There are more than three MP3000 Units.

• There is more than one MP2000 Unit.

• There is more than one Sub CPU.

• There are more than two Base Units.

• An MP2000 Unit is mounted to Rack 5 to 7 (excluding to the right of a Sub CPU).

• More than one EXIOIF Module is mounted.

• An EXIOIF Module is mounted under a Sub CPU.

Check the system software version.

Check to see if the Modules are supported.

Log on from the MPE720 and check the Module configuration definitions.

Check SB00041F (temperature warning).

Check to see if the Fan is operating.

Or, check SB00041E (Fan error).

Correct the Unit configuration.

Use a version of the CPU that supports operation as a Sub CPU.

Remove any Modules that are not supported.

Transfer a Main CPU project to the Main CPU. Transfer a Sub CPU project to the Sub CPU.

Change the installation environment to lower the temperature around the CPU.

If the CPU temperature increases and an error occurs, turn OFF the power supply to the Controller and change the installation environment.

Check the Fan operation. If the Fan is not operating, turn OFF the power supply to the Controller and replace the Fan.

Continued on next page.

2-10

2.2 CPU Unit/CPU Module Indicators and Display

Troubleshooting with Indicators and Displays

Display

Continued from previous page.

Alarm Code

Alarm Name

E090: Hardware error 1

E091: Hardware error 2

E092: Hardware error 3

A001 Operation error in DWG.A

A002 Operation error in DWG.I

A003 Operation error in

DWG.H

A005 Operation error in DWG.L

A101: I/O error on Rack 1

A102: I/O error on Rack 2

A103: I/O error on Rack 3

A104: I/O error on Rack 4

A105: I/O error on Rack 5

A106: I/O error on Rack 6

A107: I/O error on Rack 7

MP3200

MP3300



 −

Cause Confirmation Method Correction

A hardware error occurred.

There is an operation error in DWG.A.

There is an operation error in DWG.I.

There is an operation error in DWG.H.

There is an operation error in DWG.L.

There is an I/O error on a Main Rack (Rack ). : 1 to 7

Turn the power supply OFF and ON again.

Check the error code in SW00081.

Check the error code in SW00083.

Check the error code in SW00085.

Check the error code in SW00089.

Check the error in SW09560 to SW13699 (System I/O Error Status) to identify the Module with the error.

If the error persists even when you turn the power supply OFF and ON again a few times, there is a hardware failure.

Replace the Unit.

Correct the ladder program.

Remove the cause of the I/O error based on the error status.

Continued on next page.

2-11

2.2 CPU Unit/CPU Module Indicators and Display

Display

Continued from previous page.

Alarm Code

Alarm Name

A201: Insufficient power supply capacity warning 1 for Rack 1

A205: Insufficient power supply capacity warning 1 for Rack 5

A206: Insufficient power supply capacity warning 1 for Rack 6

A207: Insufficient power supply capacity warning 1 for Rack 7

A211: Insufficient power supply capacity warning 2 for Rack 1

A215: Insufficient power supply capacity warning 2 for Rack 5

A216: Insufficient power supply capacity warning 2 for Rack 6

A217: Insufficient power supply capacity warning 2 for Rack 7

A230: Hardware error 4

A240: Fan stopped

Cause Confirmation Method Correction

MP3200

MP3300



 −

An Insufficient Power Supply Capacity 1 Warning was detected on the Main Rack (Rack ).

 −

: 1 or 5 to 7

 −



 −

An Insufficient Power Supply Capacity 2 Warning was detected on the Main Rack (Rack ).

 −

: 1 or 5 to 7

 −



A hardware error occurred.

 − The fan stopped.

Check the indicators on the Power Supply Unit.

Turn the power supply OFF and ON again.

Check to see if the Fan is operating.

Or, check SB00041E (Fan error).

Check the configuration of the Optional Modules and either reduce the number of Optional Modules or replace the Power Supply Unit.

If the error persists even when you turn the power supply OFF and ON again a few times, there is a hardware failure. Replace the Unit with the hardware failure.

• Connect the Fan correctly.

• If the Fan is not operating, turn OFF the power supply to the Controller and replace the Fan.

Continued on next page.

2-12

2.2 CPU Unit/CPU Module Indicators and Display

Troubleshooting with Indicators and Displays

Display

Continued from previous page.

Alarm Code

Alarm Name

A241: Internal temperature

rise detected

A301: USB memory write

error

A302: USB memory read error

A303: Security error

A304: Memory diagnosis error for user program

A305: Folder for batch load-

ing does not exist

A306: Load file model mismatch error

A307: Loading error due to prog

ram write

protec-

tion

A308: Load file write error

MP3200

MP3300



Cause Confirmation Method Correction

The CPU temperature is close to the operating limit.

An error occurred while writing data to a file on the USB memory device.

An error occurred while reading data from a file on the USB memory device.

User attempted to load data while online security was enabled.

An error occurred in the user memory data that is stored in flash memory.

There is no data for batch loading on the USB memory device.

The model in the batch loading file on the USB memory does not match.

A batch load operation was performed with program write protection enabled.

Data could not be written to the Controller during batch loading.

Check SB00041F (temperature warning).

Make sure that the USB memory device is inserted properly.

Check the USB memory device.

Make sure that the USB memory device is inserted properly.

Check the USB memory device.

Check the status of the online security setting.

Turn ON the INIT switch, turn the power supply OFF and ON again, and save the data to flash memory again.

If an alarm occurs even after the power supply is turned OFF and ON again several times, the flash memory may be faulty.

Check the USB memory device.

Check the Write Protect setting under Environ-

ment Setting − System Setting.

Check the available space in the Controller.

Change the installation environment to lower the temperature around the CPU.

If the CPU temperature increases and an error occurs, turn OFF the power supply to the Controller and change the installation environment.

Reinsert the USB memory device.

Make sure that there is space available on the USB memory device.

Reinsert the USB memory device.

Make sure that there is space available on the USB memory device.

Disable online security.

Replace the CPU.

Retry execution of a project transfer from the MPE720 to the USB memory.

Set Write Protect to Writable, and execute the batch load again.

Double-check the batch transfer data.

Continued on next page.

2-13

2.2 CPU Unit/CPU Module Indicators and Display

Display

Continued from previous page.

Alarm Code

Alarm Name

A309: Save to flash memory error

A30A: Save file read error

A30B: No USB memory

device

A370: Log folder creation error

A371: Log file creation error

A372: Log file writing error

A401: M-III restrictions

error

A402: Er

ror in M

PU-01

A403: Error in Sub CPU

MP3200

MP3300



 −

Cause Confirmation Method Correction

Data could not be saved to the flash memory in the Controller during batch loading.

Data could not be read from the Controller during batch saving.

• The USB memory device was not inserted in the Controller when executing a batch load.

• The USB memory device was not inserted in the Controller when executing a batch save.

A folder could not be created on the USB memory device.

A file could not be created on the USB memory device.

An error occurred while writing data to a file on the USB memory device.

The high-speed scan time does not meet the restrictions and conditions.

An alarm occurred for the MPU-01.

An alarm occurred in the Sub CPU.

Turn the power supply OFF and ON again, and then execute the batch load again. If the data cannot be saved to flash memory even after several tries, the CPU may be faulty.

Turn the power supply OFF and ON again, and then execute the batch save again. (Check by turning ON the INIT switch.) If the data cannot be read even after several tries, the CPU may be faulty.

Make sure that the USB memory device is inserted properly.

Check the USB memory device.

Make sure that the USB memory device is inserted properly.

Check the USB memory device.

Make sure that the USB memory device is inserted properly.

Check the USB memory device.

Check the SVC/SVC32 MECHATROLINK-III communications cycle and high-speed scan time.

Check the SW01411 to SW01442 system registers (MPU-01 System Status).

Check system register SB00041B.

Replace the CPU.

Reinsert the USB memory device.

Make sure that there is space available on the USB memory device.

Reinsert the USB memory device.

Make sure that there is space available on the USB memory device.

Reinsert the USB memory device.

Make sure that there is space available on the USB memory device.

Make the settings to meet the restrictions and conditions.

Determine the MPU01 that has an error, and reset the alarm.

Determine the Sub CPU that has an error, and reset the error in the Sub CPU.

Continued on next page.

2-14

2.2 CPU Unit/CPU Module Indicators and Display

Troubleshooting with Indicators and Displays

USB Status Indicator

Continued from previous page.

Alarm Code

Alarm Name

h: CPU stopped by failsafe function

MP3200

MP3300



The failsafe function was activated for E.083 (Fan Alarm) or E.082 (Temperature Warning).

Cause Confirmation Method Correction

USB Status Indicator

This indicator shows the status of the USB memory.

Indicator

Name

USB ACTIVE

Indicator

Status

(Not lit.)

(Lit.)

Meaning Status

No USB memory device

USB memory device inserted

If the Fan is not operating, replace the Fan.

If the Fan is operating Check to see if the Fan is operating.

No USB memory device has been inserted.

A USB memory device is inserted.

normally, change the

installation environ-

ment to reduce the

temperature around

the Controller.

Accessing USB memory

(Flashing)

The USB memory is being accessed.

Check the USB status indicator using the above table. If the indicator is not lit, there may be an error in the communications status with the USB memory device.

Indicator

Status

Not lit.

The USB memory device is not properly seated in the USB connector.

The USB memory device failed. Replace the USB memory device.

The USB connector is faulty. Replace the CPU Unit/CPU Module.

Cause Correction

Remove the USB memory device and insert it into the USB connector again.

2-15

2.2 CPU Unit/CPU Module Indicators and Display

MECHATROLINK-III Status Indicators

These indicators show the status of the MECHATROLINK-III communications.

Indicator

Name

CN Green

LK1 Green

LK2 Green

Color

Indicator

Status

Lit.

Not lit. The connection has not been established.

Lit. MECHATROLINK-III communications are active on port 1.

Not lit.

Lit. MECHATROLINK-III communications are active on port 2.

Not lit.

MECHATROLINK-III communications is established with the CPU Unit as a slave (i.e., the Connect command is ON).

No MECHATROLINK-III communications are connected on port 1.

No MECHATROLINK-III communications are connected on port 2.

Description

If the LK1 or LK2 status indicator is not lit, there may be an error in the communications with MECHATROLINK-III.

LK1 and LK2

Status

Indicators

Not lit.

The MECHATROLINK-III cable is not connected properly.

The MECHATROLINK-III cable has a broken wire.

Cause Correction

Remove the MECHATROLINK-III cable and insert it into the MECHATROLINK-III connector again.

Replace the MECHATROLINK-III cable.

2-16

2.2 CPU Unit/CPU Module Indicators and Display

Troubleshooting with Indicators and Displays

LINK/ACT

100M

Ethernet Connector Indicators

You can check the error status of Ethernet communications. This section describes the indicator lighting patterns.

Indicator

Name

Color Indicator Status Description

Not lit. There is no Ethernet connection.

LINK/ ACT

Yellow

Lit. An Ethernet link is established.

Flashing Ethernet communications are in progress.*

Not lit. There is a 10M connection.

100M Green

Lit. There is a 100M connection.

* If a communications error occurs when message communications are used with a UDP connection type, communica-

tions data may be lost or communications may stop when the LINK/ACT indicator for the Ethernet connector lights or flashes because UDP does not use connections. If this occurs, use the following corrections.

• Use straight or crossover 100Base-TX (category 5 or higher) Ethernet cables.

• Separate the Ethernet cables from power cables.

If the above corrections do not solve the problem, use a TCP connection type. If you use a UDP connection type, write the program to retry Send Message Execute Commands with the MSG-SNDE message function. Refer to the following section for information on resend programming for the MSG-SNDE message function of the MP Series.

4.1 Troubleshooting Ethernet Communications - Troubleshooting Quick Reference (page 4-5)

If the LINK/ACT status indicator is not lit, there may be an error in the communications with the Ethernet.

LINK/ACT

Status

Indicator

Not lit.

The Ethernet cable is not connected properly.

The Ethernet cable has a broken wire.

The power to the hub or other Ethernet device that is connected to the Controller with an Ethernet cable is not turned ON.

Cause Correction

Remove the Ethernet cable and insert it into the Ethernet connector again.

Replace the Ethernet cable.

Turn ON the power to the hub or Ethernet device to which the Ethernet cable is connected to.

2-17

2.3 Rack Expansion Interface Unit Indicators

Important

2.3

Rack Expansion Interface Unit Indicators

These indicators show the operating status of the Rack Expansion Interface Unit, the communications status of the cable, and the error status.

For Main Rack For Expansion Rack

Indicator Color Status When Lit, Flashing, or Not Lit

Lit

LKP1 Green

Not lit.

LKP2 Green

LKP3 Green

ERR Red Lit

Lit

Not lit. Same as LKP1.

Lit

Not lit. Same as LKP1.

Communications are active with the Rack Expansion Interface Unit connected to PORT1.

• Communications errors occurred consecutively and communications cannot be recovered automatically.

• The cable was disconnected or was not connected to the port.

• The current Rack Expansion Interface Unit or another Rack Expansion Interface Unit connected to it has a hardware failure.

Communications are active with the Rack Expansion Interface Unit connected to PORT2.

Communications are active with the Rack Expansion Interface Unit connected to PORT3.

• Consecutive communications errors occurred on one of the ports and communications cannot be recovered automatically.

• The cable was disconnected or was not connected. These errors are not shown on the Main Rack Expansion Interface Unit before the connection is established.

• The current Rack Expansion Interface Unit or another Rack Expansion Interface Unit connected to it has a hardware failure.

2-18

If communications errors occur consecutively during operation, communications between the Main Rack and Expansion Rack will stop.

Troubleshooting using the System Monitor

This chapter describes the procedure for checking errors by using the System Monitor.

3.1

3.2

Overview of the System Monitor . . . . . . . . . . . . . 3-2

Troubleshooting Errors with the System Monitor . 3-3

System Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Scan Time Exceeded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Investigating Operation Errors . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Investigating I/O Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3.1 Overview of the System Monitor







3.1

Overview of the System Monitor

The System Monitor allows you to monitor the status of the indicators, CPU Unit, and scan time values of the Machine Controller by going online with the Machine Controller from the MPE720. The System Monitor Dialog Box is displayed if an error exists in the Machine Controller when you go online with the Machine Controller from the MPE720. The System Monitor can detect the following errors.

• RUN status of the Machine Controller

• Scan time errors

• Operation errors

•I/O errors

The System Monitor Dialog Box displays the following information.

3-2

Run Status

This area shows the run status of the Machine Controller. The ALM or ERR indicator will be lit if a system error or alarm exists.

Scan Time

Normally, this area shows the scan times. If the current or maximum values exceed the set values, the values will be displayed in red.

Alarm detection

This area shows the operation errors that occur in ladder programs, motion programs, and sequence programs, and the I/O errors that occur with the Input Modules and Output Modules. This information will allow you to analyze operation errors and I/O errors.

3.2 Troubleshooting Errors with the System Monitor

Troubleshooting using the System Monitor

System Errors

3.2

Troubleshooting Errors with the System Monitor

This section describes how to troubleshoot errors caused by the Machine Controller system, as well as scan time exceeded errors, operation errors, and I/O errors.

System Errors

If one or more of the following errors appear in the System Monitor Dialog Box, a system error has occurred in the Machine Controller.

Error Displayed in System

Monitor Dialog Box

The ALM indicator is lit red.

The ERR indicator is lit red.

The BAT indicator is lit red.

The Machine Controller has a system error and cannot enter Run Mode.

An operation error or I/O error has occurred.

The Battery replacement period has come.

Meaning of Error Correction

Check SB000402 to identify and correct the source of the error.

Check SB000403 to identify and correct the source of the error.

Replace the Battery. Refer to the following chapter for Battery replacement procedures.

Chapter 8 MP3200/MP3300 Battery Replacements

3-3

3.2 Troubleshooting Errors with the System Monitor

Example

Information

Scan Time Exceeded

The Scan Time Exceeded error occurs when the current value or maximum value exceeds the set value.

When a Scan Time Exceeded error occurs, the Environment Setting Dialog Box will be displayed, as shown below.

When a Scan Time Exceeded error occurs, the current or maximum values will be displayed in red characters.

Error Displayed in Environ-

ment Setting Dialog Box

The current value is red.

The maximum value is red.

Meaning of Error Correction

The current scan time has exceeded the scan time setting.

The maximum scan time has exceeded the scan time setting.

Review the set values.

3-4

3.2 Troubleshooting Errors with the System Monitor

Troubleshooting using the System Monitor

Note

Investigating Operation Errors

An Operation Error occurs when there is an operational error in a ladder program or motion program. When an Operation Error occurs, the System Monitor Dialog Box will be displayed. The following procedure will outline the corrective action to take using the following example: an Operation Error caused by a divisor that is set to 0 in a Divide instruction.

If there are Operation Errors in multiple programs at the same time, correcting the error displayed in the System Monitor Dialog Box will not clear the error information. This may cause the dialog box to show outdated information about the error. Click the Reset Button to clear the information from previous errors.

Click the message “The alarm occurred...” in the System Monitor Dialog Box.

The MPE720 Ver. 7 Dialog Box will be displayed.

2. Click the OK Button.

3-5

3.2 Troubleshooting Errors with the System Monitor

Investigating Operation Errors

An “H” will appear in the Name of program where alarm occurred Box.

3. Click the Alarm detection Button.

The MPE720 Ver. 7 Dialog Box will be displayed.

4. Click the Yes Button.

3-6

3.2 Troubleshooting Errors with the System Monitor

Troubleshooting using the System Monitor

Investigating Operation Errors

The execution step number where the error occurred will be displayed in the Execution step where alarm occurred Box.

5. Use the information in the Name of program where alarm occurred and Execution step where

alarm occurred Boxes to identify the drawing where the Operation Error exists.

6. Change the divisor from 0 to 1 where the operation error exists.

7. Make the Ladder Editor Tab Page active, then press the F4 Key.

This will compile the program and clear the operation error.

3-7

3.2 Troubleshooting Errors with the System Monitor

Investigating I/O Errors

I/O errors are errors that occur in the Input and Output Modules.

If an I/O error occurs, check the meaning of the I/O error in the System Monitor Dialog Box.

Click the message “The alarm has occurred...” that is displayed in red in the System Monitor Dialog Box.

If the error occurred in an Input or Output Module connected to the Machine Controller, the following error message will be displayed.

3-8

3.2 Troubleshooting Errors with the System Monitor

Troubleshooting using the System Monitor

Investigating I/O Errors

The following procedure will outline the corrective action to take using the following example: an Output Error in the SVC Function Module (rack 1, slot 0).

Check the description of the error message and click the OK Button.

The Status Area in the System Monitor Dialog Box will give information on the I/O Module where the error occurred.

2. Confirm the rack and slot information, then set the system register addresses from SW00208 to

SW00215 in the register list and check the contents.

Refer to the following section for details on system I/O error status.

7.5 System Register Configuration and Error Status − System I/O Error Status (page 7-15)

3-9

3.2 Troubleshooting Errors with the System Monitor

Information

Investigating I/O Errors

3. Use the contents in the system registers to determine the status of the error.

(SVC/

SVC32)

SW00213

SW00214 ST#15 ••••••••••••••••••• ST#2 ST#1 Not used.

SW00215 Not used. ST#30 ST#29 ••••••••••••••••••• ST#17 ST#16

SW00216 Not used.

SW00217 Not used.

Error code

ST#n

Error code (station error = 1)

F210

FED

Table 3.1 SVC/SVC32 Error Status Details

Item Code Remarks

0No error

1 Station error

0 Communications normal

1 Communications error at station n

4. Establish communications with ST#1.

This completes the troubleshooting procedure for I/O errors.

Subslot (function) number (= 3)

3-10

Troubleshooting Communications and Motion Control

This chapter describes how to troubleshoot errors that can occur in communications or in motion control.

4.1

4.2

Troubleshooting Ethernet Communications . . . . . 4-2

Checking Ethernet Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

Checking the Ethernet Communications Mode . . . . . . . . . . . 4-4

Troubleshooting Quick Reference . . . . . . . . . . . . . . . . . . . . . 4-5

Troubleshooting Motion Errors . . . . . . . . . . . . . . . 4-7

Troubleshooting Motion Errors . . . . . . . . . . . . . . . . . . . . . . . . 4-8

Checking Status and Alarms of a Reference-type SERVOPACK with MECHATROLINK-III Communications . . 4-21

4.1 Troubleshooting Ethernet Communications

4.1

Troubleshooting Ethernet Communications

When a problem occurs in Ethernet communications, it is important to recover normal system operation as soon as possible by finding the cause of the problem and taking the necessary measures.

The basic troubleshooting procedure is outlined below.

Check the following items.

Step 1

Step 2 Try to go online with the Machine Controller from the MPE720.

Step 3

• Ethernet cables and Ethernet communications mode

• Indicators on the front of the CPU Unit/CPU Module and on the Ethernet connector

Connection Cannot Be Established

Check the connection settings for the MPE720.

Step 3 Check the switch settings.

Step 4

Connection Can Be Established But Mes-

sage Communications Are Not Possible

Use the MPE720 to check the following items in the detailed definitions.

•Error Status

• Trans Status (Transmission Status)

Step 5

Use the MPE720 to check the following items in the message functions.

• Processing result and status of the message functions

• Inputs to the message functions

• Parameters of the message functions

4-2

4.1 Troubleshooting Ethernet Communications

Troubleshooting Communications and Motion Control

START

Check whether the Ethernet communications mode is correct.

The LINK indicator on the Ethernet connector is lit or flashing.

Can you go online from

the MPE720 (version 7)?

There is a problem related to the MPE720.

There is a problem related to message communications.

END

YES

Checking the Ethernet Communications Mode (page 4-4)

6.1 Troubleshooting Flowchart When the MPE720 Cannot Go Online with the Machine Controller (page 6-2)

5.2 Troubleshooting Message Communications (page 5-10)

Use the following flowchart to troubleshoot any problems that occur in Ethernet communications.

4-3

4.1 Troubleshooting Ethernet Communications

Checking Ethernet Cables

The use of incorrect Ethernet cables may interfere with connecting from the MPE720 or with message communications. For Ethernet cables, use the following twisted-pair cable with RJ-45 connectors.

Communications

Function Module

218 IFD 100Base-TX

* Some commercially available devices, such as switching hubs, support automatic MDI/MDI-X configuration, which

enables the use of either straight or crossover cables.

Ethernet

Standard

Category Remarks

Category 5 or higher

Use a straight or crossover cable.

Checking the Ethernet Communications Mode

The following table lists the communications modes of the remote device (a directly connected hub or nonYaskawa controller) for which communications are possible.

Communica-

tions Func-

tion Module

218 IFD

* Auto-negotiation automatically detects the Ethernet communications mode (including the baud rate and duplex mode

(half/full)).

Communica-

tions Mode

of Local

Station

Auto-negotiation*

Auto-negoti-

ation

Depends on the remote device.

Communications Mode of Remote Station

10Base-T

Half-duplex

Communicates only in 10Base-T half-duplex mode.

10Base-T

Full-duplex

Communications are not possible.

100Base-TX

Half-duplex

Communicates only in 100Base-TX half-duplex mode.

100Base-TX

Full-duplex

Communications are not possible.

4-4

4.1 Troubleshooting Ethernet Communications

Troubleshooting Communications and Motion Control

Troubleshooting Quick Reference

The following table provides examples of problems in Ethernet communications that occur frequently and can be corrected relatively simply. If you cannot eliminate the error with the following table, refer to the following section.

4.1 Troubleshooting Ethernet Communications (page 4-2)

Problem Cause Correction

Cannot go online from the MPE720.

Message communications do not start.

Message communications are not completed.

* Use the programming shown on the next page to retry Send Message Execute Commands.

The IP address of the PC is set to be automatically assigned.

The E-INIT switch on the CPU Unit/CPU Module is set to ON. (The local IP address that is set in the Module’s detailed definition is different from the actual local IP address.)

The data was not saved to the flash memory or the power supply was not turned OFF and ON again after changing the transmission definition or connection parameters.

No message function was created or executed in the ladder program.

The Dev-Typ (Transmission Device Type) setting in the message function is not correct.

The remote device does not have a communications function or setting for communicating with the Machine Controller.

UDP communications stopped.

Set the IP address of the PC manually as shown in the following example.

218IFD: 192.168.1.1 PC: 192.168.1.10

Set the E-INIT switch on the front of the CPU Unit/CPU Module to OFF and then turn the power supply OFF and ON again.

This switch does not necessarily have to be set to OFF to perform message communications. However, always set unique IP addresses for the local IP address that is set on the rotary switches and the IP address of the remote station that is set in the connection parameters.

Save the data to the flash memory and then turn the power supply OFF and ON again. You must turn the power supply OFF and ON again after making changes or additions to the IP addresses or connection parameters to enable the new settings.

Create a message function in the ladder program. No message function is required for automatic data reception or I/O message communications with the 218IFD.

Set Dev-Typ to 16 for the 218IFD.

Check the communications function or setting of the remote device.

Write the program* to retry Send Message Execute Commands with the MSG-SNDE message function.

4-5

4.1 Troubleshooting Ethernet Communications

Troubleshooting Quick Reference

4-6

4.2 Troubleshooting Motion Errors

Troubleshooting Communications and Motion Control

4.2

Troubleshooting Motion Errors

Motion errors are errors that are detected in motion control. If a motion error occurs in the SVC/SVC32, the M_ALM indicator on the CPU Unit/CPU Module will light red.

You can check motion errors in the following motion parameters: Warnings (IL02), Alarms (IL04), and Command Error End (IW09 bit 3).

The following figure illustrates motion errors.

Warnings (IL02)

Motion error

Alarms (IL04)*

Bit 1: Setting Parameter Error Bit 2: Fixed Parameter Error

Out-of-range Parameter Number (IW01)

Bit 0: Excessive Deviation

Bit 3: SERVOPACK Error

Bit 4: Motion Command Setting Error

Bit 0: SERVOPACK Error

Bit 1: Positive Overtravel

Bit 2: Negative Overtravel

Bit 3: Positive Software Limit

Bit 4: Negative Software Limit

Bit 5: Servo OFF

Bit 1E: Motor Type Setting Error

Bit 1F: Connected Encoder Model Error

Command Error End (FAIL)

(IW09 bit 3)

* Refer to the following section for details on the Alarms (IL04) parameter.

Alarms (IL



04) and Corrections (page 4-11)

4-7

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors

This section describes the details of and corrections for motion errors.

Warnings (IL02)

The following table lists the bits in the Warnings (IL02) parameter.

IL02 Warnings

Note: “IW00” indicates the first input register address plus 00.

Name Contents

Bit 0: Excessive Deviation

Bit 1: Setting Parameter Error

Bit 2: Fixed Parameter Error

Bit 3: SERVOPACK Error

Bit 4: Motion Command Setting Error

Bit 5: Reserved for system.

Bit 6: Positive Overtravel

Bit 7: Negative Overtravel

Bit 8: Servo ON Incomplete

Bit 9: SERVOPACK Communications Warning

Bit A: SERVOPACK Stop Signal Active

Bits B to 1F: Reserved for system.

 Troubleshooting Warnings (IL02)



Bit 0: Excessive Deviation

Anytime except during speed or torque control.

Detection Timing

Processing When Warning Occurs

Details and Cause

Correction

Note: The deviation is not checked if the OL22 (Excessive Deviation Detection Value) parameter is set to 0.

This warning is detected only when bit 0 (Excessive Deviation Error Level Setting) in the OW01 setting parameter is set to 1 (Warning).

The current movement command is continued. Movement commands can be executed.

The position deviation exceeded the OL22 setting parameter (Excessive Deviation Detection Value). Any of the following is possible.

• Response was poor because the position loop or speed loop gain is not suitable.

• The value of OL22 (Excessive Deviation Detection Value) is too small.

• The capacity of the motor is too small for the load.

• The SERVOPACK malfunctioned.

Check the following and make suitable corrections where necessary.

• Check the position loop or speed loop gain.

• Check the OL22 (Excessive Deviation Detection Value) parameter.

• Check the capacity of the motor.

4-8

4.2 Troubleshooting Motion Errors

Troubleshooting Communications and Motion Control

Troubleshooting Motion Errors



Bit 1: Setting Parameter Error

Detection Timing At execution of a motion command.

Processing When Warning Occurs

Details and Cause

Correction



Bit 2: Fixed Parameter Error

Detection Timing When saving the fixed parameters.

Processing When Warning Occurs

Details and Cause

Correction

Note: The following fixed parameters are related to a fixed parameter error for the electronic gear. Check the settings of

these parameters. Bit 0 (Axis Selection) and bit 9 (Simple Absolute Infinite Axis Position Management) in the Function Selection Flags 1 parameter, and the Reference Unit Selection, Travel Distance per Machine Rotation, Servomotor Gear Ratio Term, Machine Gear Ratio Term, Infinite-length Axis Reset Position, Encoder Selection, Number of Pulses per Motor Rotation, and Maximum Number of Absolute Encoder Rotations parameters

The number of the setting parameter in which an error was detected is reported in the IW01 monitor parameter (Out-of-range Parameter Number).

Any of the following is possible.

• The set value of the setting parameter exceeds the setting range.

• The value of the setting parameter that was specified when a motion command was executed was not correct.

Check the set value of the setting parameter that was reported in the IW01 monitor parameter (Out-of-range Parameter Number).

The number of the fixed parameter in which an error was detected is reported in the IW01 monitor parameter (Out-of-range Parameter Number). Bit 0 (Motion Operation Ready) in the IW01 monitor parameter changes to 0 (Motion operation not ready).

A setting range error or operation error occurred in internal processing that used more than one fixed parameter.

Check the set value of the fixed parameter that was reported in the IW01 monitor parameter (Out-of-range Parameter Number).



Bit 3: SERVOPACK Error

Detection Timing Anytime

Processing When Warning Occurs

Details and Cause

Correction Check the nature of the SERVOPACK warning and eliminate the cause.



Bit 4: Motion Command Setting Error

Detection Timing At start of motion command execution.

Processing When Warning Occurs

Details and Cause An unsupported motion command code was set.

Correction Correct the motion command code.

The current movement command is continued. Movement commands can be executed.

This warning indicates that a warning occurred in the SERVOPACK. Check the nature of the warning in bits 8 to B (Command Error Status) and bits C to F (Communications Error Status) of the IW2C monitor parameter, and the IW2D monitor parameter (SERVOPACK Alarm Code).

The motion command is disabled.

4-9

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors



Bit 6: Positive Overtravel and Bit 7: Negative Overtravel

Detection Timing

Processing When Warning Occurs

Details and Cause

Correction



Bit 8: Servo ON Incomplete

Detection Timing Anytime

Processing When Warning Occurs

Details and Cause

Correction

During execution of a movement motion command. Overtravel detection is enabled while the OT signal in travel direction is OFF.

• Stop processing is performed in the SERVOPACK. The stop method and the operation after stopping depend on the SERVOPACK param-

eter settings.

• Controller Processing The current movement command is continued.

Any of the following is possible.

• A command was issued that caused a travel limit of the machine to be exceeded for one of the following:

A command from a user program Manual operation that exceeds the travel limit

• An error in the overtravel signal

• Check the following items: Check the overtravel signal. Check programmed and manual operation.

• After completing the above checks, return the axis to eliminate the overtravel condition.

Movement commands cannot be executed.

The power to the Servomotor was not turned ON even though bit 0 (Servo ON) of the OW00 setting parameter was turned ON. Any of the following is possible.

• The change in the Servo ON command from OFF to ON was not detected.

• There is an alarm in the SERVOPACK.

• The main circuit power supply to the SERVOPACK is OFF.

Turn ON the Servo ON command again. Check the SERVOPACK for alarms and check the power supply status and stop signal status.

4-10



Bit 9: SERVOPACK Communications Warning

Detection Timing Anytime

Processing When Warning Occurs

Details and Cause This bit shows individual errors in MECHATROLINK communications.

Correction

Note: If communications errors occur consecutively, an alarm will be shown in IL04 bit 11 (SERVOPACK Com-

munications Error).



Bit A: SERVOPACK Stop Signal Active

Detection Timing Anytime

Processing When Warning Occurs

Details and Cause

Correction Confirm safety, and then disable the stop signal.

The current movement command is continued. Movement commands can be executed.

When the communications error stops, normal status is recovered automatically. If warnings occur frequently, reroute the MECHATROLINK cable, change the ground,

or implement other noise countermeasures.

The power supply to the Servomotor is turned OFF and movement commands are not executed.

The stop signal (or an HWBB for PA CK .

-V/Σ-7 SERVOPACKs) was received by the SERVO-

4.2 Troubleshooting Motion Errors

Troubleshooting Communications and Motion Control

Troubleshooting Motion Errors

Alarms (IL04) and Corrections

This section describes the alarms that are given in IL04 and the corrections for them.

 Alarms in IL04

The following table lists the bits in the Alarms (IL04) parameter.

IL04 Alarm IL04 Alarm

Bit 0 SERVOPACK Error Bit 10

Bit 1 Positive Overtravel Bit 11 SERVOPACK Communications Error

Bit 2 Negative Overtravel Bit 12

Bit 3 Positive Software Limit Bit 13 Excessive Absolute Encoder Rotations

Bit 4 Negative Software Limit Bit 14 Reserved for system.

Bit 5 Servo OFF Bit 15 Reserved for system.

Bit 6 Positioning Time Exceeded Bit 16 Not used.

Bit 7 Excessive Positioning Travel Distance Bit 17 Not used.

Bit 8 Excessive Speed Bit 18 Not used.

Bit 9 Excessive Deviation Bit 19 Not used.

Bit A Filter Type Change Error Bit 1A Not used.

Bit B Filter Time Constant Change Error Bit 1B Not used.

Bit C Not used. Bit 1C Not used.

Bit D Zero Point Unset Bit 1D Not used.

Bit E Not used. Bit 1E Motor Type Setting Error

Bit F Not used. Bit 1F Connected Encoder Model Error

SERVOPACK Synchronized Communications Error

SERVOPACK Communications Timeout Error

 Corrections for Alarms (IL04)



Bit 0: SERVOPACK Error

Detection Timing SERVOPACK alarms are detected in the alarm control section (always).

The current command is canceled. Processing When Alarm Occurs

Details and Cause

Correction

Note: This bit changes to 1 when an alarm that is classified as a SERVOPACK alarm occurs in MECHATROLINK com-

munications.

If a SERVOPACK Error alarm occurs during execution of a POSING command, the

POSING operation is canceled and the axis decelerates to a stop.

Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

The cause depends on the specific alarm. The specific alarm is given in IW2D

(SERVOPACK Alarm Code).

• Check the specific SERVOPACK alarm and eliminate the cause.

• Reset the alarm.

4-11

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors



Bit 1: Positive Overtravel and Bit 2: Negative Overtravel

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction

Note: For a vertical axis, we recommend that you make the following settings in the SERVOPACK to prevent falling or

oscillation at the overtravel boundary.

• Using an emergency stop to decelerate to a stop

• Implementing a zero clamp after decelerating to a stop

These alarms are detected by the position control section during execution of a motion command (always). Overtravel detection is enabled while the OT signal in travel direction is OFF.

• Stop processing is performed in the SERVOPACK. The stop method and the operation after stopping depend on the SERVOPACK parameter settings.

Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

• Controller Processing The command is canceled and the axis decelerates to a stop. Followup processing to align the command position with the current machine position is performed.

Any of the following is possible.

• A command was issued that caused a travel limit of the machine to be exceeded for one of the following: A command from a user program

Manual operation that exceeds the travel limit

• An error in the overtravel signal

• Check the following items: Check the overtravel signal. Check programmed and manual operation.

• After checking the above items, clear the motion command code and reset the alarm. Then return the axis to eliminate the overtravel condition. (Commands in the overtravel direction will be disabled. If you attempt to execute one, the alarm will occur again.)



Bit 3: Positive Software Limit and Bit 4: Negative Software Limit

Detection is enabled when a motion command is used. These alarms are detected by the

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction



Bit 5: Servo OFF

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction

position control section. Detection is enabled after completion of a Zero Point Return or a Set Zero Point command.

The axis decelerates to a stop at the software limit. Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

A command was issued that caused a software limit to be exceeded for one of the following:

• A command from a user program that exceeds the travel limit

• Manual operation that exceeds the travel limit

• Check programmed and manual operation.

• After checking the above item, clear the motion command code and reset the alarm. Then return the axis to within the software limit. (Commands in the direction of the software limit will be disabled. If you attempt to execute one, the alarm will occur again.)

This alarm is detected when a movement command is attempted when the power to the Servomotor is OFF.

The movement command is not executed. Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

A movement command (Positioning, External Positioning, Jog, or STEP Operation) was issued when the power to the Servomotor was OFF.

Clear the motion command code, reset the alarm, and then turn ON the power to the Servomotor.

4-12

Troubleshooting Communications and Motion Control



Bit 6: Positioning Time Exceeded

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction

Note: The positioning time is not checked if the OW26 (Positioning Completion Check Time) parameter is set to



Bit 7: Excessive Positioning Travel Distance

Detection Timing This alarm is detected when a positioning command is executed.

Processing When Alarm Occurs

Details and Cause

Correction Check the axis travel distance specification in the positioning command.

Positioning was not completed within the time set in OW26 (Positioning Completion Check Time) after the completion of pulse distribution.

The current command is aborted. Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

Any of the following is possible.

• Response was poor or oscillation occurred because the position loop or speed loop gain is not suitable.

• The time in OW26 (Positioning Completion Check Time) is too short.

• The capacity of the Servomotor is too small for the load.

• The SERVOPACK and Servomotor are not connected correctly.

Check the following items.

• Check the parameters that are related to the characteristics (gains) of the SERVOPAC K.

• Check the connection between the SERVOPACK and Servomotor.

• See if the capacity of the Servomotor is sufficient.

• Check the time in OW26 (Positioning Completion Check Time).

Movement commands are not executed. Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

A movement command (Positioning, STEP Operation, or External Positioning) that exceeded the positioning travel limit was issued.

The positioning travel limits depend on the setting of fixed parameter No. 4 (Reference Unit Selection) as given below.

Setting of Fixed

Parameter No. 4

Reference unit Pulses mm Degrees Inches μm

Positioning travel limit



Bit 8: Excessive Speed

Detection Timing This alarm is detected when a movement command is executed.

Processing When Alarm Occurs

Details and Cause

Correction

0 1 2 3 4

2,147,483,647

Movement commands are not executed. Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

The command speed (or, for interpolation, the distributed travel distance for one scan) that was sent to the SERVOPACK with MECHATROLINK communications exceeded the allowed upper limit.

Check the speed reference, travel distance per scan for the interpolation reference, and the speed compensation setting.

2,147,483,647 ×

No. 6 (Travel Distance per Machine Rotation) × No. 9 (Machine Gear Ratio Term) No. 36 (Numbers of Pulses Per Motor Rotation) × No. 8 (Servomotor Gear Ratio Term)

4-13

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors



Bit 9: Excessive Deviation

Detection Timing Anytime except during speed or torque control.

Processing When Alarm Occurs

Details and Cause

Correction

Note: The deviation is not checked if the OL22 (Excessive Deviation Detection Value) parameter is set to 0.



Bit A: Filter Type Change Error

Detection Timing Always detected (This alarm is detected by the motion command processing section.)

Processing When Alarm Occurs

Details and Cause

Correction

Note: The current command will not stop even if this error occurs. To stop the current command, program stop process-

ing in a user program.

Movement commands are not executed. Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

Any of the following is possible.

• Response was poor because the position loop or speed loop gain is not suitable.

• The value of OL22 (Excessive Deviation Detection Value) is too small.

• The capacity of the motor is too small for the load.

• The SERVOPACK malfunctioned.

Check the following and make suitable corrections where necessary. If recovery is not possible, contact the maintenance division.

• Check the position loop or speed loop gain.

• Check the OL22 (Excessive Deviation Detection Value) parameter.

• Check the capacity of the motor.

The Change Filter Type command is not executed. Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

An error will occur if the Change Filter Type command is specified when pulse distribution has not been completed for a command (i.e., when bit 0 in IW0C is OFF).

Correct the program so that the Change Filter Type command is executed only after pulse distribution is completed (i.e., only when bit 0 in IW0C is ON).



Bit B: Filter Time Constant Change Error

Detection Timing Always detected (This alarm is detected by the motion command processing section.)

Processing When Alarm Occurs

Details and Cause

Correction

Note: The current command will not stop even if this error occurs. To stop the current command, program stop process-

ing in a user program.



Bit D: Zero Point Unset

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction

Commands are not executed. Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

An error will occur if the Change Filter Time Constant command is specified when pulse distribution has not been completed for a command (i.e., when bit 0 in IW0C is OFF).

Correct the program so that the Change Filter Time Constant command is executed only after pulse distribution is completed (i.e., only when bit 0 in IW0C is ON).

Detection of this alarm is enabled only when an absolute encoder and an infinite-length axis are used. The alarm is detected when the following command is set in OW08 (Motion Commands). Commands: Positioning, External Positioning, Interpolation, Latch, or Issue Phase Reference

The command that was set is not executed. Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.

A movement command was set when the zero point was not set (i.e., when bit 5 of IW0C was OFF).

Clear the motion command, reset the alarm, and then perform an operation to set the zero point.

4-14

4.2 Troubleshooting Motion Errors

Troubleshooting Communications and Motion Control

Troubleshooting Motion Errors



Bit 10: SERVOPACK Synchronized Communications Error

This alarm is detected by the communications control section when MECHATROLINK

Detection Timing

Processing When Alarm Occurs

Details and Cause Data was not updated properly on either the Machine Controller or the SERVOPACK.

Correction Check the connection of the MECHATROLINK cable, and then reset the alarm.



Bit 11: SERVOPACK Communications Error

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction Check the connection of the MECHATROLINK cable, and then reset the alarm.

communications are synchronized between the Machine Controller and the SERVOPAC K.

The current command is canceled.

This alarm is detected by the communications control section when MECHATROLINK communications is being performed between the Machine Controller and the SERVOPAC K.

• The current command is canceled.

• The SERVOPACK turns OFF the power to the Servomotor.

MECHATROLINK communications stopped because the cable was disconnected, there is an error in MECHATROLINK communications (e.g., noise entered the communications path), the power supply to the SERVOPACK was interrupted, etc.



Bit 12: SERVOPACK Communications Timeout Error

This alarm is detected during execution of a motion command.

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction Check for alarms in the SERVOPACK with MECHATROLINK Communications.

Note: This alarm occurs in the SERVOPACK with MECHATROLINK Communications when Module assignment is completed

but the power supply to the SERVOPACK is not turned ON.



Bit 13: Excessive Absolute Encoder Rotations

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction Correct the settings of the gear ratio, encoder pulses, and other related fixed parameters.

This alarm is detected by the MECHATROLINK communications control section when the servo command/response check is performed in the processing sections.

The current command is canceled.

The servo command in MECHATROLINK communications was not completed within the specified time (5 seconds).

Detection of this alarm is enabled only when an absolute encoder, finite-length axis, and electronic gear are used. This alarm is detected by the position control section when the power supply is turned ON.

The absolute position information that is read from the absolute encoder when the SEN signal turns ON is ignored.

An operation error occurred when converting the absolute position information that was read from the absolute encoder when the power supply was turned ON from pulses to reference units.

4-15

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors



Bit 16: Scan Setting Error

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction



Bit 1C: Cyclic Communications Initialization Incomplete

This alarm is detected when the Machine Controller is started, when the high-speed scan setting is changed or saved, or when the MECHATROLINK communications settings are changed or saved.

A communications alarm will occur for all SERVOPACKs and I/O stations connected to the MECHATROLINK.

The high-speed scan setting and the MECHATROLINK communications cycle setting are not an integer multiple of 1, or an integer fraction of 1.

Check the settings for the high-speed scan or the MECHATROLINK communications cycle.

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction



Bit 1D: Detected SERVOPACK Model Error

Detection Timing

Processing When Alarm Occurs

Details and Cause

Correction

This alarm is detected by the MECHATROLINK communications control section when MECHATROLINK communications are in progress.

Communications cannot be performed with the slave station where this error occurred.

The slave station was assigned for MECHATROLINK communications but was not actually connected, or was connected while communications were in progress but failed to join in the communications.

Turn the power supply to the Controller OFF and ON again, or execute a network reset (0W00 = Bit C).

This alarm is detected when trying to establish MECHATROLINK communications with a SERVOPACK.

Communications cannot be performed with the SERVOPACK where this error occurred.

The SERVOPACK model assigned in the SVC definitions does not match the actual SERVOPACK model that is connected.

• Change the model selected for the SERVOPACK to match the one that is actually connected.

• If the model is not supported by the latest version of the MPE720, assign it as a wildcard SERVOPACK.

4-16



Bit 1E: Motor Type Setting Error

Detection Timing This alarm is detected when communications is established with the SERVOPACK.

Processing When Alarm Occurs

Details and Cause

Correction Check the settings and model number of the SERVOPACK.



Bit 1F: Connected Encoder Model Error

Detection Timing This alarm is detected when communications is established with the SERVOPACK.

Processing When Alarm Occurs

Details and Cause

Correction Check the Servomotor.

No special processing is performed.

The setting (rotary/linear) of the Motor Type fixed parameter does not agree with the setting in the SERVOPACK (Pn000.3 (Startup Selection Settings) for an SGDH SERVOPACK or Rotary/Linear for an SGDS SERVOPACK).

No special processing is performed.

The setting (rotary/linear) of the Motor Type fixed parameter does not agree with the Servomotor that is connected to the SERVOPACK.

4.2 Troubleshooting Motion Errors

Troubleshooting Communications and Motion Control

Troubleshooting Motion Errors

Causes of Command Error End Alarms (IW09 Bit 3)

Bit 3 (Command Error End) of the IW09 monitor parameter will turn ON when a motion command cannot be executed for some reason or if execution does not end normally. The reasons that cause this bit to turn ON depend on the motion command.

The following table gives the reasons that cause this bit to turn ON for each motion command.

Motion Command Code Reason for Command Error End

The positioning travel distance exceeded the allowed value.

An absolute infinite-length axis is being used but

1 POSING (Positioning)

EX_POSING

(External Positioning)

Zero Point Return

(ZRET)

the zero point is not set.

The power to the Servomotor is OFF. A: Servo OFF An alarm has occurred. −

Communications are not synchronized.

The positioning travel distance exceeded the allowed value.

An absolute infinite-length axis is being used but the zero point is not set.

The power to the Servomotor is OFF. A: Servo OFF An alarm has occurred. −

Communications are not synchronized.

Writing the SERVOPACK parameters was not completed within the specified time.

An A.94 or A.95 warning occurred in the SERVOPACK.

An external signal selection is not within the setting range.

The machine is locked. −

The power to the Servomotor is OFF. A: Servo OFF An alarm has occurred. −

Communications are not synchronized.

Reading or writing the SERVOPACK parameters was not completed within the specified time.

An A.94 or A.95 warning occurred in the SERVOPACK.

The zero point return method is not set within the setting range.

The zero point return method is set to P-OT, but the approach speed is negative.

The zero point return method is set to N-OT, but the approach speed is positive.

The zero point return method is set to DEC1 + phase-C pulse, ZERO signal, DEC1 + ZERO signal, or Phase-C pulse, but the OT signal in the zero point return direction is ON.

Warnings (W) and Alarms (A)

That Occur at the Same Time

A: Excessive Positioning Travel Distance

A: Zero Point Unset

A: SERVOPACK Synchronized Communications Error

A: Excessive Positioning Travel Distance

A: Zero Point Unset

A: SERVOPACK Synchronized Communications Error

A: SERVOPACK Communications Timeout Error

W: SERVOPACK Error

W: Setting Parameter Error

A: SERVOPACK Synchronized Communications Error

A: SERVOPACK Communications Timeout Error

W: SERVOPACK Error

W: Setting Parameter Error

OT alarm or OT warning in the zero point return direction

Continued on next page.

4-17

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors

Motion Command Code Reason for Command Error End

INTERPOLATE

(Interpolation)

END_OF_INTERPOLATE (Last Interpola-

tion Segment)

6 LATCH (Latch)

7 FEED (Jog)

STEP (STEP Opera-

tion)

9 ZSET (Set Zero Point)

ACC (Change Linear Acceleration Time

Constant)

DCC (Change Linear

Deceleration Time Constant)

Continued from previous page.

Warnings (W) and Alarms (A) That Occur at the Same Time

The travel distance for one scan exceeded the allowable segment for a SERVOPACK with MECHATROLINK Communications or the

A: Excessive Speed speed feedforward value exceeded the maximum speed.

An absolute infinite-length axis is being used but the zero point is not set.

A: Zero Point Unset

The power to the Servomotor is OFF. A: Servo OFF An alarm has occurred. −

Communications are not synchronized.

A: SERVOPACK Synchronized

Communications Error

The travel distance for one scan exceeded the allowable segment for a SERVOPACK with MECHATROLINK Communications or the

A: Excessive Speed speed feedforward value exceeded the maximum speed.

An absolute infinite-length axis is being used but the zero point is not set.

A: Zero Point Unset

The power to the Servomotor is OFF. A: Servo OFF An alarm has occurred. −

The latch signal is set outside of the setting range.

W: Setting Parameter Error

The machine is locked. −

The power to the Servomotor is OFF. A: Servo OFF An alarm has occurred. −

Communications are not synchronized.

The positioning travel distance exceeded the allowed value.

A: SERVOPACK Synchronized

Communications Error

A: Excessive Positioning Travel

Distance

The power to the Servomotor is OFF. A: Servo OFF An alarm has occurred. −

Communications are not synchronized.

A: SERVOPACK Synchronized

Communications Error An alarm has occurred. −

Communications are not synchronized.

A: SERVOPACK Synchronized

Communications Error An alarm has occurred. −

Communications are not synchronized.

A: SERVOPACK Synchronized

Communications Error

The command was executed when pulse distribution was not completed (i.e., when DEN was

−

OFF).

Writing the SERVOPACK parameters was not completed within the specified time.

An A.94 or A.95 warning occurred in the SERVOPACK.

A: SERVOPACK Communica-

tions Timeout Error

W: SERVOPACK Error

Continued on next page.

4-18

Troubleshooting Communications and Motion Control

Motion Command Code Reason for Command Error End

An alarm has occurred. −

Communications are not synchronized.

The command was executed when pulse distribu-

SCC (Change Filter

Time Constant)

tion was not completed (i.e., when DEN was OFF).

Writing the SERVOPACK parameters was not completed within the specified time.

An A.94 or A.95 warning occurred in the SERVOPACK.

An alarm has occurred. −

Communications are not synchronized.

CHG_FILTER

(Change Filter Type)

The command was executed when pulse distribution was not completed (i.e., when DEN was OFF).

The filter type is set outside of the setting range. W: Setting Parameter Error An alarm has occurred. −

KVS (Change Speed

14,

Loop Gain)

15,

KPS (Change Position Loop Gain)

KFS (Change Feed-

forward)

Communications are not synchronized.

Writing the SERVOPACK parameters was not completed within the specified time.

An A.94 or A.95 warning occurred in the SERVOPACK.

An alarm has occurred. −

Communications are not synchronized.

PRM_RD (Read

Parameter)

PRM_WR (Write

Parameter)

Reading the SERVOPACK parameter was not completed within the specified time.

An A.94 or A.95 warning occurred in the SERVOPACK.

The SERVOPACK parameter number or parameter size is set outside of the setting range.

ALM_MON (Moni-

tor Alarms)

ALM_HIST (Monitor

Alarm History)

ALMHIST_CLR

(Clear Alarm History)

The command to the SERVOPACK was not completed within the specified time.

The SERVOPACK alarm monitor number was set outside of the setting range.

The command to the SERVOPACK was not completed within the specified time.

The command was issued to a Σ-

I-ser

ies SER-

VOPACK.

The command was issued when the power to the

ABS_RST (Reset

Absolute Encoder)

Servomotor was ON.

Communications are not synchronized.

The command to the SERVOPACK was not completed within the specified time.

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors

Continued from previous page.

Warnings (W) and Alarms (A)

That Occur at the Same Time

A: SERVOPACK Synchronized Communications Error

A: Filter Time Constant Change Error

A: SERVOPACK Communications Timeout Error

W: SERVOPACK Error

A: SERVOPACK Synchronized Communications Error

A: Filter Time Constant Change Error

A: SERVOPACK Synchronized Communications Error

A: SERVOPACK Communications Timeout Error

W: SERVOPACK Error

A: SERVOPACK Synchronized Communications Error

A: SERVOPACK Communications Timeout Error

W: SERVOPACK Error

W: Setting Parameter Error

A: SERVOPACK Communications Timeout Error

W: Setting Parameter Error

A: SERVOPACK Communications Timeout Error

−

A: SERVOPACK Synchronized Communications Error

A: SERVOPACK Communications Timeout Error

Continued on next page.

4-19

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors

Motion Command Code Reason for Command Error End

VELO (Issue Speed

Reference)

TRQ (Issue Torque

Reference)

PHASE (Issue Phase

Reference)

KIS (Change Position

Loop Integral Time)

SERVOPACK parameter auto-write when

−

other movement com-

mands are executed

* This applies when the SERVOPACK Parameter Auto-Write fixed parameter is set to 0 (Enabled) and the set value of the Filter

Time Constant, Acceleration Rate/Acceleration Time Constant, or Deceleration Rate/Deceleration Time Constant parameter is changed at the same time as the movement command is set.

Warnings (W) and Alarms (A) That Occur at the Same Time

The command was issued for a MECHATROLINK-I connection.

−

An alarm has occurred. −

Communications are not synchronized.

The command was issued for a MECHATROLINK-I connection.

A: SERVOPACK Synchronized

Communications Error

−

An alarm has occurred. −

Communications are not synchronized.

An absolute infinite-length axis is being used but the zero point is not set.

A: SERVOPACK Synchronized

Communications Error

A: Zero Point Unset

The power to the Servomotor is OFF. A: Servo OFF An alarm has occurred. −

Communications are not synchronized.

A: SERVOPACK Synchronized

Communications Error An alarm has occurred. −

Communications are not synchronized.

Writing the SERVOPACK parameters was not completed within the specified time.

An A.94 or A.95 warning occurred in the SERVOPACK.

A: SERVOPACK Synchronized

Communications Error

A: SERVOPACK Communica-

tions Timeout Error

W: SERVOPACK Error

An alarm has occurred. −

Communications are not synchronized.

Writing the SERVOPACK parameters was not completed within the specified time.

An A.94 or A.95 warning occurred in the SER-

VOPACK.

Pulse distribution is not completed (i.e., DEN is OFF).

A: SERVOPACK Synchronized

Communications Error

A: SERVOPACK Communica-

tions Timeout Error

W: SERVOPACK Error

−

Continued from previous page.

4-20

4.2 Troubleshooting Motion Errors

Troubleshooting Communications and Motion Control

Checking Status and Alarms of a Reference-type SERVOPACK with MECHATROLINK-III Communications

Use the MPE720 to check the status and alarms of a Reference-type SERVOPACK with MECHATROLINK-III Communications.

This section gives the items that can be checked in the SERVOPACK status and alarm information.

SERVOPACK Status Monitor (IW2C) Table

The status of a Reference-type SERVOPACK with MECHATROLINK-III Communications can be monitored in the SERVOPACK Status Monitor parameter (IW2C).

Bit Status Meaning

Bit 0

Bit 1

Bit 2

Bit 3

Bit 6 and Bit 7

Bit 8 to Bit B

Bit C to Bit F

Drive Alarm (D_ALM)

Drive Warning (D_WAR)

Command Ready (CMDRDY)

Alarm Clear Execution Completed (ALM_CLR_CMP)

Echo-back of Command ID (RCMD_ID)

Command Error (CMD_ALM)

Communications Error (COMM_ALM)

0: No drive alarm. 1: Drive alarm occurred.

0: No drive warning. 1: Drive warning occurred.

0: Commands cannot be received. 1: Commands can be received.

0: Servo OFF (base lock) 1: Servo ON (no base lock)

This parameter reports the echo-back value of the command ID of a MECHATROLINK-III command.

This parameter reports the alarm status of a MECHATROLINK-III command.

This parameter reports the communications alarm status of a MECHATROLINK-III command.

SERVOPACK Alarm Code (IW2D) Tables

If bit 0 (SERVOPACK Error) in IL04 (Alarms) is ON, an alarm has occurred in the Reference-type SERVOPACK with MECHATROLINK-III Communications. If bit 0 (SERVOPACK Error) in IL04 (Alarms) is ON, an alarm has occurred in the SERVOPACK with MECHATROLINK Communications. You can check the specific alarm in IW2D (SERVOPACK Alarm Code). The alarm codes are listed in the following tables. Refer to the relevant SERVOPACK manual for corrective measures.

4-21

4.2 Troubleshooting Motion Errors

Checking Status and Alarms of a Reference-type SERVOPACK with MECHATROLINK-III Communications

 Σ-7-series SERVOPACKs

IW2D

Name Code Meaning

020 Parameter Checksum Error

021 Parameter Format Error

022 System Checksum Error

024 System Alarm

025 System Alarm

030 Main Circuit Detector Error

040 Parameter Setting Error

041 Encoder Output Pulse Setting Error

042 Parameter Combination Error

044 Semi-closed/Fully-closed Loop Control Parameter Setting Error

050 Combination Error

051 Unsupported Device Alarm

070 Detected Motor Type Change

080 Linear Encoder Scale Pitch Setting Error

0B0 Canceled Servo ON Command Alarm

100 Overcurrent Detected

300 Regeneration Error

320 Regeneration Overload

330 Main Circuit Power Supply Wiring Error

331 Power Monitor Input Signal Error

400 Overvoltage

410 Undervoltage

SERVOPACK Alarm Code

450 Main Circuit Capacitor Overvoltage

510 Overspeed

511 Overspeed of Encoder Output Pulse Rate

520 Vibration Alarm

521 Autotuning Alarm

550 Maximum Speed Setting Error

710 Maximum Momentary Overload

720 Maximum Continuous Overload

730, 731 Dynamic Brake Overload

740 Overload of Surge Current Limit Resistor

7A1 Internal Temperature Error 1 (Control Board Temperature Error)

7A2 Internal Temperature Error 2 (Power Board Temperature Error)

7A3 Internal Temperature Detector Error

7AB Built-in Fan in SERVOPACK Stopped

810 Encoder Backup Alarm

820 Encoder Checksum Alarm

830 Encoder Battery Alarm

840 Encoder Data Alarm

850 Encoder Overspeed

860 Encoder Overheated

861 Overheat

890 Encoder Scale Error

891 Encoder Module Error

8A0 External Encoder Error

Continued on next page.

4-22

4.2 Troubleshooting Motion Errors

Troubleshooting Communications and Motion Control

Checking Status and Alarms of a Reference-type SERVOPACK with MECHATROLINK-III Communications

Continued from previous page.

IW2D

Name Code Meaning

8A1 External Encoder Module Error

8A2 External Incremental Encoder Sensor Error

8A3 External Absolute Encoder Position Error

8A5 External Encoder Overspeed Error

8A6 External Encoder Overheat Error

B10 Speed Reference A/D Error

B11 Speed Reference A/D Conversion Data Error

B20 Torque Reference A/D Error

B33 Current Detection Error 3

BF0 System Alarm 0

BF1 System Alarm 1

BF2 System Alarm 2

BF3 System Alarm 3

BF4 System Alarm 4

C10 Runaway Detected

C20 Phase Detection Error

C21 Hall Sensor Error

C22 Phase Information Disagreement

C50 Magnetic Pole Detection Failed

SERVOPACK Alarm Code

C51 Overtravel Detected during Magnetic Pole Detection

C52 Magnetic Pole Detection Incomplete

C53 Magnetic Pole Detection Variable Range Exceeded

C54 Magnetic Pole Detection Failed 2

C80 Absolute Encoder Clear Error and Multiturn Limit Setting Error

C90 Encoder Communications Error

C91 Encoder Communications Position Data Acceleration Rate Error

C92 Encoder Communications Timer Error

CA0 Encoder Parameter Error

CB0 Encoder Echoback Error

CC0 Multiturn Limit Disagreement

CF1 Feedback Optional Module Communications Error, Reception Failed

CF2 Feedback Optional Module Communications Error, Timer Stopped

D00 Position Error Overflow

D01 Position Error Overflow Alarm at Servo ON

D02 Position Error Overflow Alarm by Speed Limit at Servo ON

D10 Motor-load Position Error Overflow

D30 Position Data Overflow

E72 Feedback Optional Module Detection Failure Alarm

EB1 Safety Function Signal Input Timing Error

F10 Main Circuit Cable Open Phase

F50 Motor Main Circuit Cable Disconnection

4-23

4.2 Troubleshooting Motion Errors

Checking Status and Alarms of a Reference-type SERVOPACK with MECHATROLINK-III Communications

 Σ-V-series SERVOPACKs

IW2D

Name Code Meaning

020 Parameter Checksum Error

021 Parameter Format Error

022 System Checksum Error

023 Parameter Password Error

030 Main Circuit Detector Error

040 Parameter Setting Error

041 Encoder Output Pulse Setting Error

042 Parameter Combination Error

044 Semi-closed/Fully-closed Loop Control Parameter Setting Error

050 Combination Error

051 Unsupported Device Alarm

0B0 Canceled Servo ON Command Alarm

100 Overcurrent Detected

300 Regeneration Error

320 Regeneration Overload

330 Main Circuit Power Supply Wiring Error

400 Overvoltage

410 Undervoltage

510 Overspeed

511 Overspeed of Encoder Output Pulse Rate

520 Vibration Alarm

521 Autotuning Alarm

SERVOPACK

Alarm Code

710 Maximum Momentary Overload

720 Maximum Continuous Overload

730 731

740 Overload of Surge Current Limit Resistor

7A0 Heat Sink Overheated

7AB Built-in Fan in SERVOPACK Stopped

810 Encoder Backup Alarm

820 Encoder Checksum Alarm

830 Encoder Battery Alarm

840 Encoder Data Alarm

850 Encoder Overspeed

860 Encoder Overheated

891 Encoder Module Error

8A0 External Encoder Scaling Error

8A1 External Encoder Module Error

8A2 External Incremental Encoder Sensor Error

8A3 External Absolute Encoder Position Error

B10 Speed Reference A/D Error

B11 Speed Reference A/D Conversion Data Error

B20 Torque Reference A/D Error

B31 Current Detection Error 1

B32 Current Detection Error 2

B33 Current Detection Error 3

BF0 System Alarm 0 (Scan C Error)

Dynamic Brake Overload

Continued on next page.

4-24

4.2 Troubleshooting Motion Errors

Troubleshooting Communications and Motion Control

Checking Status and Alarms of a Reference-type SERVOPACK with MECHATROLINK-III Communications

Continued from previous page.

Name Code Meaning

BF1 System Alarm 1 (CPU Stack Memory Error)

BF2 System Alarm 2 (Current Control Processing Section Program Error)

BF3 System Alarm 3 (Scan A Error)

BF4 System Alarm 4 (CPU WDT Error)

C10 Runaway Prevention Detected

C20

C21

C22

C50

C51

C52

Phase Detection Error

Hole Sensor Error

Phase Information Disagreement

Magnetic Pole Detection Failed

Overtravel Detected during Magnetic Pole Detection

Magnetic Pole Detection Incomplete

C53 Magnetic Pole Detection Variable Range Exceeded

C54 Magnetic Pole Detection Failed 2

C80 Absolute Encoder Clear Error and Multiturn Limit Setting Error

C90 Encoder Communications Error

C91 Encoder Communications Position Data Acceleration Rate Error

C92 Encoder Communications Timer Error

CA0 Encoder Parameter Error

CB0 Encoder Echoback Error

CC0 Multiturn Limit Disagreement

CF1

CF2

Fully-closed Serial Conversion Unit Communications Error

IW2D

SERVOPACK

Alarm Code

D00 Position Error Overflow

D01 Position Error Overflow Alarm at Servo ON

D02 Position Error Overflow Alarm by Speed Limit at Servo ON

D10 Motor-load Position Error Overflow

EB0

Safety Function Drive Monitor Circuit Error

EB1 Safety Function Signal Input Timing Error

EB2

EB3

EB4

EB5

EB6

EC7

Safety Function Drive Internal Signal Error

Safety Function Drive Communications Error 1

Safety Function Drive Communications Error 2

Safety Function Drive Communications Error 3

Safety Function Drive Communications Data Error

Safety Option Card Stop Command Error

F10 Main Circuit Cable Open Phase

CPF00 Digital Operator Transmission Error 1

CPF01 Digital Operator Transmission Error 2

- - Not an error.

*1. These alarm codes are possible only when the feedback option is used. *2. These alarm codes are possible only when the safety function is used.

4-25

Troubleshooting Programming and Debugging

This chapter describes how to troubleshoot errors that can occur when programming or debugging.

5.1

5.2

Troubleshooting Motion Program Alarms . . . . . . 5-2

Checking for Motion Program Alarms . . . . . . . . . . . . . . . . . . . 5-2

Structure of Motion Program Alarms . . . . . . . . . . . . . . . . . . . 5-5

Motion Program Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . 5-6

Troubleshooting Message Communications . . . 5-10

Checking the Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . 5-13

Message Communications Errors . . . . . . . . . . . . . . . . . . . . 5-14

Communications Stopped during Message Communications 5-36

Other Problems during Message Communications . . . . . . . 5-38

5.1 Troubleshooting Motion Program Alarms

Checking for Motion Program Alarms

5.1

Troubleshooting Motion Program Alarms

This section describes how to troubleshoot alarms that can occur for motion programs.

Checking for Motion Program Alarms

You can check the alarm codes, alarm names, and corrections for any alarms in motion programs in the Motion Alarm Dialog Box.

There are two ways to display the Motion Alarm Dialog Box.

Using the Drive Control Panel

Right-click in the Drive Control Panel Tab Page and select Motion Alarm from the pop-up menu.

5-2

5.1 Troubleshooting Motion Program Alarms

Troubleshooting Programming and Debugging









  



Checking for Motion Program Alarms

Using the Motion Editor

Right-click in the Motion Editor Tab Page and select Motion Alarm from the pop-up menu.

 Motion Alarm Dialog Box Details

This section describes the Motion Alarm Dialog Box.

 Tas k

If the alarm occurred in a motion program that was registered for execution in the M-EXECUTOR, then this column will show the M-EXECUTOR task. If the alarm occurred in a motion program that was called from a ladder program with an MSEE instruction, then this box will show ---.

5-3

5.1 Troubleshooting Motion Program Alarms

Block Number

Checking for Motion Program Alarms

 Program Name

If the alarm occurred in a motion program that was registered for execution in the M-EXECUTOR, then this box will show the name of the program registered in the M-EXECUTOR.

If the alarm occurred in a motion program that was called from a ladder program with an MSEE instruction, then this box will show ---.

 Fork

When parallel execution (PFORK) is used in a motion program, sometimes more than one alarm will occur at the same time. Refer to the following manual for details on parallel execution instructions.

MP3000 Series Motion Programming Manual (Manual No. SIEP C880725 14)

 Alarm Code

The alarm code is displayed here.

 Status (Alarm Name)

This column displays the status and the names of the alarms.

 Block Number

This column displays the numbers of the blocks where the errors occurred. Double-click the block number to jump to the program where the error occurred. The block numbers are displayed in the Motion Editor Tab Page.

 Alarm Contents

This box displays a description of the alarm.

 Correction

This box displays instructions to correct the error that caused the alarm to occur. If an alarm occurs in motion program, use the alarm code to isolate the cause.

5-4

5.1 Troubleshooting Motion Program Alarms

Troubleshooting Programming and Debugging

Alarm Axis (Camera)

Information

(1 to 32)

Circuit Information

(1 to 32)

Bit 1F Bit 18 Bit 17 Bit 10 Bit F Bit 0

Alarm Code

Program alarm: 0 hex

Axis alarm: 1 hex

Vision alarm: 4 hex

Information

Alarm Axis Information (1 to 32)

Bit F Bit 8 Bit 7 Bit 0

Alarm Code (Axis alarm when bit 7 is ON.)

Example

Alarm (Example)

Expansion Motion Program

Alarm

Motion Program Alarm

Program Alarm 000000 hex 00 hex Circuit 2 Axis 3 Axis Alarm 020310 hex 03 hex Circuit 2 Camera 3 Vision Alarm 02034 hex 037F hex Circuit 2 Vision Alarm 02004 hex 007F hex

Structure of Motion Program Alarms

You can monitor for motion program alarms in the SL26000 to SL26510 system registers.

The structure of the motion program alarm data stored in the system registers is shown below.

You can also monitor for motion program alarms in the SW03268 system registers. The structure of the motion program alarm data stored in the SW03268 system register is shown below.

Note: The system register addresses depend on the system work number. Refer to the fol-

lowing section for details.

Alarm Indications

5-5

5.1 Troubleshooting Motion Program Alarms

Motion Program Alarm Codes

The following table lists the alarm codes for motion programs.

Alarm Code Alarm Name Alarm Correction

0002 hex Division error The data was divided by 0. Correct the motion program.

0010 hex

0011 hex

0012 hex

0013 hex

0014 hex

0015 hex

0016 hex

Program Alarms

0017 hex

0018 hex

0019 hex

001A hex

001B hex Emer

001C hex

Turn specified instead of radius

Interpolation feed speed over limit

No interpolation feed speed setting

Range exceeded after acceleration parameter conversion

Circular arc length exceeded LONG_MAX

No vertical axis set for the circular arc plane

No horizontal axis set for the circular arc plane

Number of axes over limit

Number of turns over limit

Radius exceeded LONG_MAX

Center point setting error

gency stop

Linear interpolation travel distance exceeded LONG_MAX

A number of turns (T) was specified instead of a radius for a circular or helical interpolation instruction.

The interpolation feed speed exceeded the setting range of the FMX instruction.

The interpolation feed speed has never been set. (If you set it once, further settings can be omitted within the same program.)

The indirectly designated acceleration parameter exceeded the setting range.

The circular arc length that was specified for a circular or helical interpolation instruction exceeded the setting range.

The vertical axis was not set for a circular or helical interpolation instruction.

The horizontal axis was not set for a circular or helical interpolation instruction.

The number of specified axes exceeds the limit of a circular interpolation instruction (2 axes max.) or a helical interpolation instruction (3 axes max.).

The number of turns that was specified for a circular or helical interpolation instruction exceeded the setting range.

The radius that was specified for a circular or helical interpolation instruction exceeded the setting range.

The correct center point was not set for a circular or helical interpolation instruction.

The axis movem was stopped due to a Request for Stop of Program.

The travel distance that was specified for a linear interpolation instruction exceeded the setting range.

ent instruction

• Convert the radius setting to a center point coordinate setting to execute the circular or helical interpolation instruction.

• Do not specify a number of turns.

Correct the feed speed of the interpolation instruction.

Set the feed speed of the interpolation instruction.

Change the value of the register that is used for the indirect designation.

Correct the circular arc length setting for the circular or helical interpolation instruction.

Set the vertical axis with the PLN instruction.

Set the horizontal axis with the PLN instruction.

Correct the axis setting of the circular or helical interpolation instruction.

Correct the number of turns setting of the circular or helical interpolation instruction.

Correct the radius setting of the circular or helical interpolation instruction.

Specify a correct center point for the circular or helical interpolation instruction.

Turn OFF the Request for Stop of Program motion program control signal, and turn ON the Alarm Reset Request.

Correct the travel distance for the linear interpolation instruction.

Continued on next page.

5-6

5.1 Troubleshooting Motion Program Alarms

Troubleshooting Programming and Debugging

Motion Program Alarm Codes

Continued from previous page.

Alarm Code Alarm Name Alarm Correction

001D hex FMX is not defined

001E hex

001F hex

T address out of range

P address out of range

There was no FMX instruction executed in a motion program that includes an interpolation instruction.

The address setting in an IAC/ IDC/FMX instruction exceeds the setting range.

The address setting in an IFP instruction exceeds the setting range.

Execute an FMX instruction. An FMX instruction is required for each program that contains an interpolation instruction.

Correct the setting in the IAC/IDC/ FMX instruction.

Correct the setting in the IFP instruction.

Motion instructions were executed at the same time in the sec-

0021 hex

PFORK execution error

ond fork of the PFORK instruction in the calling motion program and the second fork of

Correct the motion program or the subprogram.

the PFORK instruction in the subprogram.

The specified register address exceeds the range of the register size.

Correct the motion program.

0022 hex

Indirect designation register range error

The decimal-format axis travel

Program Alarms

0023 hex

Travel distance out of range

distance specified in an axis movement instruction exceeds the

Correct the axis travel distance.

allowed range.

0024 hex

0026 hex

Interpolation override out of range

PFORK number of parallel forks error

The interpolation override setting exceeded the setting range.

The number of parallel forks exceeded the number set for the parallel mode.

Correct the Interpolation Override Setting.

• Correct the motion program.

• Correct the parallel mode setting.

No composite travel

0028 hex

distance for linear interpolation setting when target axis setting for interpolation feed speed was

The composite travel distance was not set for a linear interpolation instruction when the target axis setting for interpolation feed speed was enabled.

Set the composite travel distance for the linear interpolation instruction when the target axis setting for interpolation feed speed is enabled.

enabled

007F hex

Refer to the expansion alarm registers.

A vision alarm occurred.

Check the expansion motion program alarm and correct the problem.

Continued on next page.

5-7

5.1 Troubleshooting Motion Program Alarms

Motion Program Alarm Codes

Alarm Code Alarm Name Alarm Correction

0080 hex

Logical axis use prohibited

The infinite-length

0081 hex

axis setting exceeded POSMAX

The axis travel dis-

0082 hex

tance exceeded LONG_MAX

Duplicated motion command

Motion command response error

VEL setting out of range

INP setting out of range

ACC/SCC/DCC setting out of range

0084 hex

0085 hex

0087 hex

0088 hex

0089 hex

Exceeded IFMX (maximum interpola-

Axis Alarms

0090 hex

tion feed speed setting for individual axes)

008A hex

008B hex

008C hex

008D hex

008E hex

No time setting in MVT instruction

Command cannot be executed

Distribution incomplete

Motion command error termination

Servo ON Incomplete

008F hex Axis alarm

More than one motion instruction was executed for the same axis.

The travel distance setting for infinite-length axis exceeded the POSMAX setting.

The axis travel distance setting exceeded the allowed range.

More than one instruction was executed for the same axis.

A response for a different motion command was reported by the Motion Control Function Module when a motion instruction was executed.

The setting in the VEL instruction exceeds the allowed range.

The setting in the INP instruction exceeds the allowed range.

The setting in the ACC/SCC/ DCC instruction exceeds the allowed range.

The interpolation feed speed for the axis that was specified for the IFMX instruction exceeded the speed setting in the IFMX instruction.

The T setting in the MVT instruction is zero.

The specified motion instruction cannot be executed on the target Motion Control Function Module.

A motion instruction was executed when the Motion Control Function Module had not completed distribution for a previous instruction.

The Motion Control Function Module is in Command Error status.

An axis motion instruction was executed when the power to the Servomotor was OFF.

An alarm occurred in the Motion Control Function Module to which a command was sent.

Continued from previous page.

Correct the motion program.

• Correct the setting of fixed parameter No. 10 (Infinite-length Axis Reset Position).

• Correct the motion program.

Correct the motion program.

Check for and remove simultaneous references for the same axis from other programs.

• Remove the cause of the alarm at the target axis.

• If the Servo is not ON, turn ON the Servo.

• Check for and remove simultaneous references for the same axis from other programs.

Correct the VEL instruction.

Correct the INP instruction.

Correct the ACC/SCC/DCC instruction.

Correct the speed setting in the IFMX instruction.

Correct the MVT instruction.

Correct the motion program.

Correct the motion program so that the motion instruction is executed when the Distribution Completed Bit is ON.

•

Clear

the error at the target axis.

• Correct the motion program.

• Clear the error at the target axis.

• Correct the motion program so that the motion instruction is executed when the power to the Servomotor is ON.

Clear the error at the target axis.

Continued on next page.

5-8

5.1 Troubleshooting Motion Program Alarms

Troubleshooting Programming and Debugging

Motion Program Alarm Codes

Continued from previous page.

Alarm Code Alarm Name Alarm Correction

Check the Module configuration definitions to see if the Vision Unit

4001 hex

Vision command cannot be executed

A command was executed for an unknown Vision Unit.

exists. Make sure that the specified circuit is correct and check the motion pro-

gram.

Image capture was executed for a

4002 hex

Duplicate image capture commands

camera that was already executing an image capture command

Correct the motion program.

(VCAPI or VCAPS).

A vision command was executed

4003 hex

Duplicate vision commands

during execution of a previous vision command (VFIL, VANA,

Correct the motion program.

or VRES).

4004 hex

4005 hex

Vision command circuit error

Image capture command response error

A circuit number of 0 was specified for a vision command (VCAPI, VCAPS, VFIL, VANA, or VRES).

A response for an image capture command (VCAPI or VCAPS) was not received within a specific

Make sure the specified circuit is correct and check the motion program.

Replace the Vision Unit.

time period.

Vision Alarms

4006 hex

Vision command response error

A response for a vision command (VFIL, VANA, or VRES) was not received within a specific time

Replace the Vision Unit.

period.

4007 hex

4040 hex

4041 hex

4042 hex

Function number error

Duplicate image memory usage

Parameter numeric range error

Unregistered template

4043 hex Image capture error

4044 hex

*1. If an axis alarm occurs, the axis number is stored in bits 8 to C. *2. If a vision alarm occurs, check the SL26000 to SL26510 system registers.

VRES instruction execution error

An unknown function number was specified.

More than one vision instruction was executed for the same image memory.

An out-of-range number was specified for a vision parameter.

An unregistered template was specified.

An image could not be captured for an image capture command (VCAPI or VCAPS).

The VRES instruction was executed while the VANA instruction was not being executed.

Correct the specified function number.

Correct the motion program.

Correct the vision parameter.

Correct the camera parameters in the fixed parameters.

Correct the motion program.

5-9

5.2 Troubleshooting Message Communications

Yes

START

Message communications do not start.

Check the message functions and Ethernet communication modes.

Is the E-INIT switch on

the CPU Unit/CPU

Module set to OFF?

Turn OFF the E-INIT switch on the front of the CPU Unit/CPU Module, and then turn the power supply OFF and ON again. (This does not apply when the local IP address is set on the rotary switches.)

Check the Transmission Status and Error Status Boxes on the Module’s Detail Definition Dialog Box on MPE720 version 7.

Is 0: No error

displayed in the

Error Status Box?

Check the error status.

To the next page

Communications Stopped

during Message Communications (page 5-36)

Checking the Switch

Settings (page 5-13)

Checking the Error Status and Transmission Status (page 5-14)

5.2

Troubleshooting Message Communications

Use the following flowchart to troubleshoot problems in message communications with other controllers, touch panel, or PC.

5-10

5.2 Troubleshooting Message Communications

Troubleshooting Programming and Debugging

Checking the Connection Parameters (page 5-17)

Checking Message Functions (MSG-SNDE and MSG-RCVE) (page 5-20)

From the

displayed in the Transmis-

Set the connection parameters on the Transmission Parameters Tab Page of the Module’s Detail Definition Dialog Box.

Save the data to flash memory and then turn the power supply OFF and ON again.

A1 A2

Is “---” (no display)

sion Status Box?

Yes

Is IDLE displayed in

the Transmission

Status Box?

Yes

Perform the following operations.

• Create a message function.

• Execute the message function.

• Set the input items and parameters correctly for the message function.

Check the Connection Typ e Box in the Module’s Detail Definition Dialog Box.

Is TCP displayed in the

Connection Type Box?

Check the following.

• Does the remote device exist and

(When using the UDP protocol)

Yes

(When using the TCP protocol)

B1 B2

is the power to the remote device turned ON?

• Was the data saved to flash memory and the power supply turned OFF and ON again after setting the parameters?

To the next page

5-11

5.2 Troubleshooting Message Communications

Yes

B1 B2

From the

Is WAIT displayed in the

Transmission Status Box?

Is the local station the master

station (the MSG-SND

function is used)?

Check the following.

• Does the remote device exist and is the power to the remote device turned ON?

• Was the data saved to flash memory and the power supply turned OFF and ON again after setting the parameters?

Check the processing results and the status of the message send function.

Check the processing results and the status of the message receive function.

Check other items.

END

Checking Message Functions (MSG-SNDE and MSG-RCVE) (page 5-20)

Checking Message Functions

(MSG-SNDE and MSG-RCVE)

(page 5-20)

Other Problems during Message Communications (page 5-38)

5-12

5.2 Troubleshooting Message Communications

Troubleshooting Programming and Debugging

Checking the Switch Settings

If message communications with a controller or touch panel from another manufacturer does not start even though a connection from the MPE720 can be established properly, check the following switch settings.

Device

Code

S1_6 STOP

S1_5 E-INIT

S1_4 INIT

S1_3 CNFG

S1_2 LOAD

S1_1 D-RST

Name

Status Operating Mode Default Remarks

ON Stops the user programs.

OFF Executes the user programs.

OFF

ON Resets memory.

OFF Normal operation

ON Configuration Mode

OFF Normal operation

ON Loads data.

OFF Does not load data.

ON Reserved for system.

OFF Normal operation

Sets the IP address to

192.168.001..

Sets the IP address that is set in the MPE720.

OFF

OFF Keep this pin OFF at all times.

Turn ON the pin to stop execution of the user programs.

The setting of  is determined by the rotary switch setting.

−

Turn OFF the pin to execute the programs that are stored in flash memory.

Turn ON the pin to perform self configuration. Turn OFF the pin to operate according to the definitions that are stored in flash memory.

Turn ON the pin and then turn ON the power to batch load data from the USB memory to the CPU Unit.

5-13

5.2 Troubleshooting Message Communications

Message Communications Errors

This section describes errors that can occur in message communications.

Checking the Error Status and Transmission Status

If message communications with a PLC, touch panel, or PC from another manufacturer do not start, get a general idea of the error in the status information in the Module’s Detail Definition Dialog Box on the MPE720.

 Error Status Box = 0: No error

Get a general idea of the error by referring to the Trans Status Column.



When the TCP Protocol Is Selected

Trans Status

(Transmission

Status)

- - - - -

IDLE

WA I T

Status Cause Correction Reference

Connection parameters have not been set.

Message communications are not set.

Standby mode for executing message functions.

Waiting for establishment of TCP connection with the remote device

The data was not saved to flash memory or the power supply to the Module was not turned OFF and ON again after changing the connection parameters.

No message functions have been created in the ladder program.

Message functions have been created in the ladder program but they have not been executed.

There is an error in a message function parameter setting (PARAM).

The remote device is not connected or the power to the remote device is OFF.

The remote device does not have a communications function or setting for communicating with the Machine Controller or there is an error in communications settings.

There is an error in the connection parameter settings in the Machine Controller.

Set the connection parameters.

Save the data to flash memory and turn the power supply OFF and ON again to the Module after setting connection parameters.

Create message functions in the ladder program.

Create and execute message functions in the ladder program.

Set the message function parameter (PARAM) correctly.

Connect the remote device and turn ON the power to the remote device.

Check the communications function or setting and the communication settings of the remote device.

Check the connection parameter settings in the Machine Controller.

Continued on next page.

Checking the Connection Parameters (page 5-17)

Checking Message Functions (MSG-SNDE and MSG-RCVE) (page 5-20)

−

Checking the Connection Parameters (page 5-17)

5-14

Troubleshooting Programming and Debugging

Trans Status

(Transmission

Status Cause Correction Reference

Status)

Data communications

CONNECT

with the remote

There is an error in the com-

munications protocol. device are enabled.



When the UDP Protocol Is Selected

Trans Status

(Transmission

Status Cause Correction Reference

Status)

Connection parameters have not been set.

- - - - -

Message communications are not set.

The data was not saved to flash memory or the power supply to the Module was not turned OFF and ON again after changing the connection parameters.

No message functions have been created in the ladder program.

IDLE

Standby mode for executing message functions.

Message functions have been created in the ladder program but they have not been executed.

There is an error in a message function parameter setting (PARAM).

The remote device is not connected or the power to the remote device is OFF.

The remote device does not have a communications function or setting for communi-

CONNECT

Data communications with the remote device are enabled.

cating with the Machine Controller or there is an error in communications settings.

There is an error in the connection parameter settings in the Machine Controller.

There is an error in the communications protocol.

5.2 Troubleshooting Message Communications

Message Communications Errors

Continued from previous page.

Checking Mes-

Check the error status of the message function.

sage Functions (MSG-SNDE and MSG-RCVE) (page 5-20)

Set the connection parameters.

Save the data to flash memory and turn the power supply OFF and ON again to the

Checking the Connection Parameters (page 5-17)

Module after setting connection parameters.

Create message functions in the ladder program.

Create and execute message functions in the ladder program.

Checking Message Functions (MSG-SNDE and MSG-RCVE) (page 5-20)

Set the message function parameter (PARAM) correctly.

Connect the remote device and turn ON the power to

−

the remote device.

Check the communications function or setting and the communication settings of

−

the remote device.

Check the connection parameter settings in the Machine Controller.

Check the error status of the message function.

Checking the Connection Parameters (page 5-17)

Checking Message Functions (MSG-SNDE and MSG-RCVE) (page 5-20)

5-15

5.2 Troubleshooting Message Communications

Information

Message Communications Errors

 When Error Status Box Shows an Error

Check the nature of the error in the error status. The following tables list the most frequent error status.

The Error Status Column gives the most recent error. The error information is retained even after recovering from the error and starting normal communications.



When the TCP Protocol Is Selected

Error Status Description Cause Correction

2: Local Port Number Error

4: M-SND Connection Error

5: M-RCV Connection Error

7: TCP Data Send Error

9: TCP Data Receive Error

12: Data Conversion Error

Setting error in local station port number

TCP connection error when using the Send Message function

TCP connection error when using the Receive Message function

Data sending error

Data reception error

Error in protocol conversion

The port number of a broken TCP connection was bound.

A command was simultaneously executed by another message function for the same remote device before the connection was ended.

The TCP connection request from the Machine Controller was rejected by the remote device.

An error has occurred in the Machine Controller while processing a TCP connection request from the remote device.

The remote device is not connected or the power to the remote device is OFF.

A TCP connection close request was received from the remote device.

There was a protocol data format error.

Correct the application so that at least one minute elapses after completion of the execution of the Abort command before the Execute command is turned ON in the message function in the Machine Controller.

Correct the program so that no more than one message function is executed for each connection.

Make sure that the network settings of the remote device are set to open a port for communicating with the Machine Controller. (Settings to check: The port number for communicating with the Machine Controller, TCP/UDP selection, etc.)

Make sure that the network settings of the remote device are set correctly for the port for communicating with the Machine Controller.

Make sure that the power to the remote device is ON and that the remote device is connected to the Machine Controller with Ethernet cables.

If the close request was unexpected, correct the connection closing sequence at the remote device.

Match the settings for the protocol type and code (BIN/RTU/ASCII) between the remote device and the Machine Controller.

5-16



When the UDP Protocol Is Selected

Error Status Description Cause Correction

Match the settings for the protocol 12: Data Conversion Error

Error in protocol conversion

There was a protocol data format error.

type and code (BIN/RTU/ASCII)

between the remote device and the

Machine Controller.

5.2 Troubleshooting Message Communications

Troubleshooting Programming and Debugging

Message Communications Errors

Checking the Connection Parameters

If message communications with a PLC, touch panel, or PC from another manufacturer do not start, the connection parameter settings in the Module’s Detail Definition Dialog Box may be incorrect.

Use the following procedure to check the connection parameter settings.

Start MP720 version 7 and connect to the Machine Controller online.

2. Select Module configuration from the Setup Menu.

The Module Configuration Tab Page will be displayed.

3. Double-click the cell for 218IFD in the Module Configuration Definition Dialog Box.

The Module’s Detail Definition Dialog Box will be displayed.

5-17

5.2 Troubleshooting Message Communications

Connection parameter settings

Information

Example

Message Communications Errors

4. Check the connection parameter settings.

Table 5.1 Connection Parameter Check Items

Item What to Check Remarks

Local Port

Node IP Address Set the IP address of the remote station.

Node Port

Connect Type Set the connection type of the remote station. −

Protocol Type

Code Set the code type of the remote station. −

Set the port number to which the remote station is to send data.

Set the port number from which the remote station sends data.

Set the protocol type that is supported by the remote station.

−

Set 000.000.000.000 to use the unpassive open mode.

To change the port number of the remote station dynamically, use the unpassive open mode. To use the unpassive open mode, set 0000.

−

Unpassive Open Mode

To use unpassive open mode, set the connection parameters as follows:

• Set the IP address of the remote station (Node IP Address) to 000.000.000.000.

• Set the port number of the remote station (Node Port) to 0. In unpassive open mode, the 218IFD connects to any station that attempts to access the relevant connection number. If more than one station attempts access, the connection will be established with the station that sent the connection request first. When a connection is established in unpassive open mode, a connection request from another station will break the current connection and establish a connection with the station that sent the connection request later.

Using the 218IFD

Click the Detail Setting Button to display the Automatically Reception Dialog Box. Select the Disable Option to use message functions.

5-18

Note: If message functions are used with the Enable Option selected, communications may not be performed

properly.

5.2 Troubleshooting Message Communications

Troubleshooting Programming and Debugging

Important

Message Communications Errors

5. Click the Status Tab to display the Status Tab Page.

Make sure that the following items are the same as those on the Transmission Parameters Tab Page in the Module’s Detail Definition Dialog Box.

• Connection Type

• Protocol Type

• Code

If the settings are different, the data may not have been saved to flash memory or the power supply to the Module may not have been turned OFF and ON again after changing or adding connection parameter settings. Save the data to flash memory, turn the power supply to the Module OFF and ON again, and then check the settings again.

When the transmission parameter or connection parameter settings are changed, the new settings are enabled only after the data is saved to flash memory and the power supply to the Module is turned OFF and ON again.

The parameter settings that are displayed on the MPE720 will be updated when you execute Save or Save to Flash, but you must always turn the power supply to the Module OFF and ON again to enable the new parameter settings.

5-19

5.2 Troubleshooting Message Communications

Note

Message Communications Errors

Checking Message Functions (MSG-SNDE and MSG-RCVE)

If message communications with a PLC, touch panel, or PC do not start, the specific error can be determined by checking the processing results and status of the message functions.

The procedures for checking the processing results, status, and parameter settings of the message functions are given below.

 Checking the Processing Results and Status

The processing results and status of a message function can be checked with the parameters in the following table.

Item Description

Processing Result (PARAM00)

Status (PARAM01)

Detail Error Code (PARAM02 and PARAM03)

Gives the error that has occurred when the message function was executed. This information is useful for troubleshooting errors that can occur when message function parameters are not properly set.

This information is useful when a Communications Section Error (88 hex), which cannot be isolated with the processing results in PARAM00, has occurred.

Supplemental information for PARAM00 (Processing Result). These parameters give the error code from the remote device.

The procedures for checking the processing results, status, and corrections when using the Send Message and Receive Message functions are given below.

Send Message Function Receive Message Function

Use the register list on the MPE720 to check the contents of the registers.

5-20

5.2 Troubleshooting Message Communications

Troubleshooting Programming and Debugging

Message Communications Errors

Example

The parameter list with the first address set to DA00000 is shown below.

Parameter List

DW00000

DW00001

xxxxxxxxxxxx

PARAM00

PARAM01

Processing Result

Status

5-21

5.2 Troubleshooting Message Communications

Message Communications Errors



Checking the Processing Result (PARAM00) for the Send Message Function (MSGSNDE)

The errors that may be given by the processing result of the Send Message function are listed in the following table.

• Processing Results Other Than a Communications Section Error (88 Hex)

Processing

Result

Value

81 hex

82 hex

83 hex Data size error

84 hex

85 hex

86 hex

89 hex

C0 hex Register type error

C1 hex Data type error

C2 hex

Error Cause Correction

Function code error

Address setting error

Circuit number setting error

Channel number setting error

Connection number error

Device select error

Local register type error

An unused function code was sent from the local station.

An unused function code was received from a remote station.

One of the following parameter settings is outside of the setting range. PARAM14 and PARAM15 (remote data address) PARAM20 and PARAM21 (local data address)

The send data size of the local station is outside of the setting range.

The receive data size from the remote station is outside of the setting range.

The circuit number is outside of the setting range.

The communications buffer channel number is outside of the setting range.

The connection number is outside of the setting range.

An unavailable device is set.

The register type for the remote station is outside of the setting range.

The data type is outside of the setting range. This error occurs when using function code 434D hex or 434E hex.

The register type for the local station is outside of the setting range.

Check PARAM12 (function code).

Check whether the remote station sent valid data.

Check the parameter settings that are given on the left.

Check PARAM17 (data size).

Check whether the remote station is sending data of a valid size.

Check Cir-No (circuit number) in MSG-SNDE. The device may be set incorrectly. Also check the communications device type (Dev-Typ) in the MSG-SNDE function.

Check Ch-No (communications buffer channel number) in MSGSNDE.

Check PARAM10 (connection number).

Check Dev-Typ (communications device type) in MSG-SNDE and select the appropriate device type.

Check PARAM16 (remote station register type) and set the correct register type.

Check the remote address table and set the correct data type.

Check PARAM22 (local station register type) and set the correct re

gister type.

5-22

5.2 Troubleshooting Message Communications

Troubleshooting Programming and Debugging

• Processing Result of Communications Section Error (88 Hex)

Message Communications Errors

Processing

Result Value

88 hex

Error Cause Correction

Communications section error (An error response was returned from the communications section or communications device.)

Communications are not enabled in the remote station.

More than one MSG-SNDE was executed simultaneously for the same Cir-No (circuit number) and Ch-No (communications buffer channel number).

More than one MSG-SNDE was executed simultaneously for the same Cir-No (circuit number) and PARAM10 (connection number).

The MSG-SNDE was executed when the 218IFD was not ready to receive message send or receive requests (i.e., not in RUN status).

Check the communications settings in the remote station.

Correct the ladder program so that no more than one MSG-SNDE is executed simultaneously.

Adjust the timing for executing the MSG-SNDE for the first time in the ladder program, for example by using a timer command.

5-23

5.2 Troubleshooting Message Communications

Message Communications Errors



Checking the Processing Result (PARAM00) for the Receive Message Function (MSGRCVE)

The errors that may be given by the processing result of the Receive Message function are listed in the following table.

• Processing Results Other Than a Communications Section Error (88 Hex)

Processing

Result

Value

81 hex

82 hex

83 hex

84 hex

85 hex

86 hex

89 hex

C0 hex

C1 hex

Error Cause Correction

Function code error

Address setting error

Data size error

Circuit number setting error

Channel number setting error

Connection number error

Device select error

Data type error

An unused function code was received from a remote station.

Data for an address that is outside of the setting range was received from the remote station.

One of the following settings is outside of the setting range. PARAM14 and PARAM15 (remote data address) PARAM20 and PARAM21 (local data address)

The receive data size from the remote station is outside of the setting range.

The circuit number is outside of the setting range.

The communications buffer channel number is outside of the setting range.

The connection number is outside of the setting range.

An unavailable device is set.

The register type specified by the remote (sending) station is out of range.

The data type is outside of the setting range. This error occurs when using function code 434D hex or 434E hex.

Check whether the remote station sent valid data.

Check the settings that are given on the left.

Check whether the remote station is sending data of a valid size.

Check Cir-No (circuit number) in MSG-RCVE. The device may be set incorrectly. Also check the communications device type (Dev-Typ) in the MSGRCVE function.

Check Ch-No (communications buffer channel number) in MSG-RCVE.

Check PARAM10 (connection number).

Check Dev-Typ (communications device type) in MSG-RCVE and select the appropriate device type.

Check the register type for the remote station specified at the local station and set the correct register type.

Check the remote address table set at the sending station and set the correct data type.

5-24

5.2 Troubleshooting Message Communications

Troubleshooting Programming and Debugging

• Processing Result of Communications Section Error (88 Hex)

Processing

Result

Value

88 hex

Error Cause Correction

Communications are not enabled in the remote station.

Communications section error (An error response was returned from the communications section or communications device.)

More than one MSG-RCVE was executed simultaneously for the same CirNo (circuit number) and Ch-No (communications buffer channel number).

More than one MSG-RCVE was executed simultaneously for the same CirNo (circuit number) and PARAM10 (connection number).

The MSG-RCVE was executed when the 218IFD was not ready to receive message send or receive requests (i.e., not in RUN status).

Message Communications Errors

Check the communications settings in the remote station.

Correct the ladder program so that no more than one MSG-RCVE is executed simultaneously.

Adjust the timing for executing the MSG-RCVE for the first time in the ladder program, for example by using a timer command.

5-25

Yaskawa MP3200 Troubleshooting Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Using this Manual

Related Manuals

Safety Precautions

Warranty

Contents

Overview of Troubleshooting

1.1 Basic Troubleshooting Procedure

1.2 Checking for Errors

Troubleshooting with Indicators and Displays

2.1 Power Indicators

Power Supply Unit Indicators (MP3200)

Base Unit Indicators (MP3300)

2.2 CPU Unit/CPU Module Indicators and Display

Status Indicators

Display

USB Status Indicator

MECHATROLINK-III Status Indicators

Ethernet Connector Indicators

2.3 Rack Expansion Interface Unit Indicators

Troubleshooting using the System Monitor

3.1 Overview of the System Monitor

3.2 Troubleshooting Errors with the System Monitor

System Errors

Scan Time Exceeded

Investigating Operation Errors

Investigating I/O Errors

Troubleshooting Communications and Motion Control

4.1 Troubleshooting Ethernet Communications

Checking Ethernet Cables

Checking the Ethernet Communications Mode

Troubleshooting Quick Reference

4.2 Troubleshooting Motion Errors

Troubleshooting Motion Errors

Checking Status and Alarms of a Reference-type SERVOPACK with MECHATROLINK-III Communications

Troubleshooting Programming and Debugging

5.1 Troubleshooting Motion Program Alarms

Checking for Motion Program Alarms

Structure of Motion Program Alarms

Motion Program Alarm Codes

5.2 Troubleshooting Message Communications

Checking the Switch Settings

Message Communications Errors