APPENDICES
APP − 5
APPENDIX2 ERROR CODES STORED BY THE PCPU
The errors that are detected at the PCPU are servo program setting errors and
positioning errors.
(1) Servo program setting errors
Servo program setting errors are errors in the positioning data set in the servo
program and are checked for when a servo program is started.
They are errors that occur when the positioning data is designated indirectly.
When a servo program setting error occurs, the following happens:
• The servo program setting error flag (M9079) comes ON.
• The program number of the program in which the error occurred is stored in
the error program No. register (D9189).
• The error code is stored in the error item information register (D9190).
(2) Positioning error
(a) Positioning errors are errors that occur when positioning starts or during
positioning: they are classified into minor errors, major errors, and servo
errors.
1) Minor errors.............These are errors generated by sequence programs
or servo programs; they are assigned error codes 1
to 999.
The cause of minor errors can be eliminated by
checking the error code and correcting the
sequence program or servo program.
2) Major error...............These are errors generated by external input signals
or control commands from the SCPU; they are
assigned error codes 1000 to 1999.
When a major error occurs, check the error code
and eliminate the error cause in the external input
signal status or sequence program.
3) Servo error ..............These are errors detected by the servo amplifier;
they are assigned error codes 2000 to 2999.
When a servo error occurs, check the error code
and eliminate the error cause at the servo side.
(b) When an error occurs, the error detection signal for the relevant axis comes
ON, and the error code is stored in the minor error code, major error code,
or servo error code register.
Table 2.1 Error Code Registers, Error Detection Flags
Error Code Storage RegisterDevice
Error Category
Axis
1
Axis
2
Axis
3
Axis
4
Axis
5
Axis
6
Axis
7
Axis
8
Axis
9
Axis
10
Axis
11
Axis
12
Axis
13
Axis
14
Axis
15
Axis
16
Error
Detection
Signal
Minor error
D6 D26 D46 D66 D86 D106 D126 D146 D166 D186 D206 D226 D246 D266 D286 D306
Major error
D7 D27 D47 D67 D87 D107 D127 D147 D167 D187 D207 D227 D247 D267 D287 D307
M2407+20n
Servo error
D8 D28 D48 D68 D88 D108 D128 D148 D168 D188 D208 D228 D248 D268 D288 D308 M2408+20n
Error Code Storage RegisterDevice
Error Category
Axis
17
Axis
18
Axis
19
Axis
20
Axis
21
Axis
22
Axis
23
Axis
24
Axis
25
Axis
26
Axis
27
Axis
28
Axis
29
Axis
30
Axis
31
Axis
32
Error
Detection
Signal
Minor error
D326 D346 D366 D386 D406 D426 D446 D466 D486 D506 D526 D546 D566 D586 D606 D626
Major error
D327 D347 D367 D387 D407 D427 D447 D467 D487 D507 D527 D547 D567 D587 D607 D627
M2407+20n
Servo error
D328 D348 D368 D388 D408 D428 D448 D468 D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n
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