Table of Contents
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APPENDICES
Error Code
Stored in
D9190
Torque limit value
16
setting error
Allowable error range
17
for circular interpolation
setting error
18
Repeat count error
START instruction
19
setting error
20
Point setting error
Reference axis speed
21
setting error
S-curve ratio setting
22
error
23
VSTART setting error
Cancel function start
24
program No. error
High-Speed oscillation
25
command amplitude
error
High-Speed oscillation
26
command starting angle
error
High-Speed oscillation
27
command frequency
error
START instruction
900
setting error
START instruction
901
setting error
Servo program
902
instruction code error
903
Start error
904
Start error
905
Start error
906
Axis No. setting error
907
Start error
908
Start error
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Table 2.4 Servo Program Setting Error List (Continued)
Error Name
Error Contents
The torque limit value is set outside the range 1
to 500.
The allowable error range for circular
interpolation is set outside the applicable range.
Unite
Address Setting Range
mm
inch
1 to 100000
degree
PULSE
The repeat count is set outside the range 1 to
32767.
(1) The servo program designated by the
START instruction does not exist.
(2) There is a START instruction in the
designated servo program.
(3) More than one axis has been designated for
the started servo program.
No point has been designated in the instruction
for constant speed control.
In linear interpolation using the reference axis
speed designation method, an axis not involved
in the interpolation has been designated as the
reference axis.
The S-curve ratio when designating S-curve
acceleration/deceleration is outside the range 0
to 100%.
Not even one speed switching point has been
set between a VSTART and VEND instruction,
or between a FOR and NEXT instruction.
(Applies with A273UHCPU (8/32 axis
specification) only.)
The start program No. for the cancel function
has been set outside the range 0 to 4095.
Operation cannot be started because the
amplitude commanded for the high-speed
oscillation function is outside the range 1 to
2147483647.
Operation cannot be started because the
commanded starting angle for the high-speed
oscillation function is outside the range 0 to
×
3599 (
0.1 degrees).
Operation cannot be started because the
commanded frequency for the high-speed
oscillation function is outside the range 1 to
5000 (CPM).
The servo program designated by the
DSFRP/SVST program does not exist.
(1) The axis number set for the DSFRP/SVST
instruction is different from the axis number
set for the servo program.
(2) A DSFRP instruction has been used when
executing 4-axis linear interpolation.
The instruction code cannot be decoded
(a non-existent instruction code has been
designated)
A virtual mode program was started in the real
mode
A real mode program was started in the virtual
mode
An instruction that cannot be used in the virtual
mode (VPF, VPR, VPSTART, ZERO, VVF, VVR,
OSC) was issued.
An axis not used in the system settings has
been set for the servo program set in a
DSFRP/SVST instruction.
Start attempted during processing for switching
from real mode to virtual mode.
Start attempted during processing for switching
from virtual mode to real mode.
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Error Processing
Control is executed at the default value of
300%.
Control is executed at the default value
(100PLS).
×
−1
µ m
10
×
−5
10
inch
×
−5
10
degree
PLS
Control is executed with the repeat count set to
"1".
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Control is executed with an S-curve ratio of
100%.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
APP − 8
Corrective Action
Set the torque limit value in the
range 1 to 500.
Set the allowable error range for
circular interpolation in the
applicable range.
Set the repeat count in the range 1
to 32767.
(1) Create a servo program
designated by the START
instruction.
(2) Delete the servo program
containing the START
instruction.
(3) Do not designate more than
one axis.
Designate a point between
CPSTART and CPEND.
Set one of the axes involved in the
interpolation as the reference axis.
Set the S-curve ratio within the
range 0 to 100%.
Set a speed switching point
between the VSTART and VEND
instructions or the FOR and NEXT
instructions.
Set the start program No. within
the range 0 to 4095 and then start.
Set the commanded amplitude
within the range 1 to 214783647
and then start.
Set the starting angle within the
×
range 0 to 3599 (
0.1 degree)
and then start.
Set the frequency within the range
1 to 5000 (CPM) and then start.
Set the correct servo program
number.
(1) Set the correct axis number.
(2) Use the SVST instruction for 4-
axis linear interpolation.
Set the correct instruction code.
Check the mode allocation for the
program.
Check the mode allocation for the
program.
Correct the servo program.
Set an axis number that is setted
in the system settings.
Use M2034 (real/virtual mode
switching request), M2044
(real/virtual mode status) as
interlocks for starting.
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