Installation manual

Chapter 6 Programming
6-116
６．１５．１ Status conversion outline when error occurs
For control section recognition error or control status conversion by warning,
depending on a controller (motion control/servo driver) occurring (recognizing) error, the
difference is as follows:
・warning information →Control status continuing
Among errors recognized by the motion control section, one identified as “warning,” can
be controlled. The motion control might automatically change command value depending
on the error, but, control continues.
・Error information (level 1) →Brake-stop (Communication status continuing)
Among errors recognized by the motion control section, one identified as “error (level
1),” cannot be controlled. The motion control sets the command (brake-on) to the servo
driver, its control status shifts to a brake-stop. As the servo driver status is in control
continuing communication, control commands can be issued at the remaining status.
・Error information (level 2) →Brake-stop (Communication-stop)
With an error recognized by a servo driver, the servo driver status shifts to “waiting.”
The motion control status shifts to brake-stop (communication-stop.) Before issuing
control command, communication-start with a servo driver is needed.
Receiving communication-start command, the servo driver clears errors, then shifts to be
in control.
ブレーキ
停止状態
ｻ
ｰﾎ
ﾞ
制御
中
通信中
ブ
レーキ
停止状態
ｻ
ｰﾎ
ﾞ待機中
通信停止
運動
制御
制御中
ｴﾗｰ発生
(ﾚﾍﾞﾙ１)
ﾄﾙｸ
制御
ON
ﾌ
ﾞ
ﾚｰｷ
停
止
制御
ＯＮ
ｴﾗｰ発生
(ﾚﾍﾞﾙ１)
ｴﾗｰ発
生
( ﾚﾍﾞﾙ２ )
通信
開
始
通
信停
止
ｴﾗｰ発
生
( ﾚﾍﾞﾙ２ )
各軸制御状態
位置姿勢制御状態
（
ｻｰﾎ：速度ｻｰﾎﾞ状態）
ﾀﾞｲﾚｸﾄ制御状態
（
ｻｰﾎ：ﾄﾙｸｻｰﾎﾞ状態）
motion control
control continues
error
(
level-1
)
error
(
level-2
)
error
(
level-1
)
error
(
level-1
)
Brake
stop
Brake
stop
Brake stop
communication
start
communication
stop
control ON
torque control ON
servo stop
communication stop
servo continues
communication start
direct control status
(servo:tor
q
ue status)
axis control status
RMRC control status
(servo:speed status)
M
M
e
e
m
m
o
o