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5. Type R interface 5.4 Protection Function Alarm status is activated when an error in the system occurs. In the alarm status, the motor is in the fixed excitation state with the excitation current preset by Command 20h-DAT3. During motor operation, it enters the fixed excitation state after the motor is stopped at maximum torque. When the Power Limit during servo OFF status is set to 0, it enters the unexcited state. 5.4.1 Alarm Description Confirmation Alarm description can be confirmed with 7 segment LED display or Communication (Command 87h: Alarm history RD). Alarm Display Alarm description Recoverability abbreviation DE Sensor disconnected Unrecoverable OV Input power voltage is above the specification range Recoverable MPE Input power voltage is below the specification range Recoverable RSTE Initialization error / Power line disconnected Unrecoverable OVF Servo error Recoverable OL Overload stop Recoverable OS Over-speed Recoverable RGOL Regeneration voltage is over the specified value Recoverable ORG Zero-return error Recoverable CNT OVF Position command counter overflow Recoverable Wrap around Absolute position counter sign reversal Recoverable HSTOP Push error (wide swing) Recoverable LAE Lead angle error Unrecoverable OC Over-current Unrecoverable EEPER Non-volatile memory error Unrecoverable To cancel unrecoverable alarms, it is necessary to turn off the power, and then restart. 560
5. Type R interface 5.4.2 Alarm Causes Abbreviation Display Alarm cause DE Indicates the disconnection of the encoder input signal A, B and C-phase. Observed at all times. OV Indicates that the input power voltage is above the specification range. At power-up, the input voltage specification automatically recognizes 24V or 48V. Alarm will be triggered according to the following excess voltage detection values dependent on input voltage specification. 24V inputapprox. above 36V 48 inputapprox. above 55V MPE Indicates that the input power voltage is below the specification range. The detection voltage is shown below. 24V inputapprox. below 18V 48inputapprox. below 30V Not detected during servo OFF. Termination of power with servo ON may trigger alarm output. ALM history will be saved only if the power voltage returns to normal after low-voltage detection. RSTE When the power of the PB system is turned on, Initialization action detects the initial phase of the sensor, initializes the internal counter, and switches to servo ON status. If the sensor initial phase cannot be detected because of overload and power line disconnection etc, it results in an Alarm condition. If there is an ALM, STOP or Interlock (Type R) status after the power is turned ON, Initialization will not be executed. Refer to Chapter 6 for more information about load tolerance. OVF When actual movement is opposite to commanded direction due to excessive rotational vibration of motor or forced operation by external force, and when the position deviation threshold value exceeds the Command 14h setting value, alarm detection will result. Confirm that it is not used under unreasonable acceleration / deceleration or overload conditions. OL Indicates that before reaching the target position, the load was inoperative for a certain time. The detection time for inoperative status can be set using command 14h. Check unintentional causes such as the load reaching the mechanical limit. Not detected when Maximum current during operation 2 is selected. OS Indicates a velocity error. If the actual velocity exceeds approx. 5200min -1 , it results in Alarm condition. Confirm that it is not used under unreasonable acceleration / deceleration or overload conditions. 561
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M0007846 SANMOTION CLOSED LOOP STEP
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Contents 1. Safety Pre
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Safety Precautions common 1.1 Int
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Safety Precautions common 1.3 Safet
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Safety Precautions common Operati
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2. Model Number Specifications (com
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2. Model Number Specifications (com
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D5 6 7 8 9 A B C 3. Installation /
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3. Installation / Wiring (common)
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Pulse Train Input Interface
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4. Pulse Train Input Interface
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5. Type R Interface
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5. Type R Interface
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5. Type R Interface
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5. Type R Interface
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