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10 MOTION DEVICES
1) Motion SFC error history devices
The error information which occurred after power-on of the CPU is
stored as a history of up to eight past errors. The latest error is stored in
#8056 to #8063. All errors, including the Motion SFC control errors and
the conventional minor, major, servo, servo program and mode
changing errors are stored in this history. At error occurrence, the
"Motion SFC error detection flag (M2039)" is also set.
The error information is shown below.
Description
No. Signal name
Motion SFC control errors Conventional errors
+0
Error Motion SFC
program No.
0 to 255 : Motion SFC program No. in error
-1 : Independent of Motion SFC program
-1
+1 Error type
1 :F/FS
2 :G
-1 :K or other
(not any of F/FS, G and SFC chart)
-2 :Motion SFC chart
3 : Minor/major error
4 : Minor/major error (virtual servomotor shaft) (SV22 only)
5 : Minor/major error (synchronous encoder shaft) (SV22
only)
6 : Servo error
7 : Servo program error
8 : Mode change error (SV22 only)
9 : Manual pulse generator axis setting error
10 : Test mode request error
11 : WDT error
12 : Personal computer link communication error
+2 Error program No.
0 to 4095 : F/FS, G, K program No.
0 to 255 : GSUB program No.
-1 : Independent of F/FS, G, K, GSUB
0 to 4095 : Servo program No. when error type is "3", "4" or
"7"
-1 : Others
+3
Error block No./
Motion SFC list
line No./axis No.
0 to 8191 : F/FS or G program's block No.
(line No.) when error type is "1"
or "2"
0 to 8188 : Motion SFC list line No. when error
type is "-2"
-1 : Independent of block when error
type is "-1" or error type is "1" or "2"
1 to 32 : Corresponding axis No. when error type is any of "3"
to "6"
-1 : Others
+4 Error code
16000 and later
(Refer to Chapter "19 ERROR CODE LISTS".)
• Conventional error code (less than 16000) when error type
is any of "3" to "6"
• Error code stored in D9190 when error type is "7"
• Error code stored in D9193 when error type is "8"
• -1 when error type is "9" or "10"
• Error code stored in D9184 when error type is "11"
• Error code stored in D9196 when error type is "12"
+5
Year/
month
+6
Day/
hour
+7
Error
occur-
rence
time
Minute/
second
The clock data (D9025, D9026, D9027) are set.
(BCD code, year in its lower 2 digits)