5. Commands and Functions - Sanyo Denki America, Inc.

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4. Input / Output Signal Functions ALM Code ALM Description Condition / cause 05h Servo error Detects an ALM if the position deviation is over the value set by command 14h. Possible causes Delay due to excessive acceleration / deceleration. Delay due to excessive load. 06h Overload stop 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. Possible causes The load reached the mechanical limit. Load is out of tolerance range (excessive load). 07h Velocity error Indicates a velocity error. Possible causes Overshoot due to unreasonable acceleration / deceleration. Overshoot due to excessive load. 08h Regeneration error Indicates a motor regeneration voltage error. Possible causes Abrupt deceleration due to excessive load. Stationary drive of excessive negative load. * The PB amplifier has a standard internal regenerative control function used during deceleration. Contact Sano Denki for assistance if this function is not sufficient for regenerative control. 09h Zero-return error When using zero-return Type 0,1,3 (C-phase detection zero-return): Indicates that the C-phase could not be detected within one rotation of the motor shaft. When using zero-return Type 2,3 (Push zero-return): Indicates that the collision drive was incomplete within the travel distance range set by command E3h. Possible causes Coupling slippage. Sensor C-phase signal disconnection. Command E3h setting value inappropriate. 0Ah Counter Overflow Remain Pulse Counter Overflow Possible causes An additional timing of a movement order is non-appropriate 0Bh Absolute position sign reversal Indicates the sign reversal of the absolute position counter inside the amplifier. Command 14h can be used to enable or disable detection of this condition. Possible causes Detection is enabled during a drive using single rotational direction only. 4-11
4. Input / Output Signal Functions ALM Code ALM Description Condition / cause 0Ch Push Error When hard stop occurred, at the time of imposition movement, it is detected. ALM is detected in the case of CMD14h-DAT4-Bit1 =0. Possible causes Setting value of an imposition push current limit is unreasonable Push travel distance is excessive 0Eh Motor overheating Detects the ambient temperature near the motor’s internal encoder. The continuous operational area of the motor is limited by heat dissipation and drive conditions. Possible causes Insufficient radiation, excessive ambient temperature. Continuous drive of a momentary operational area. 0Fh Amplifier overheat Indicates that the amplifier is overheated. At certain tines, the amplifier cannot be used for continuous operation, due to heat dissipation and drive conditions. Possible causes Insufficient radiation, excessive ambient temperature. Continuous drive of a momentary operational area. 10h Memory error Indicates a nonvolatile memory data error. Possible causes Power interruption during writing to the nonvolatile memory. Data writing error due to excessive noise. * After detecting the memory error, the parameters are reset to the initial factory settings. 11h Internal voltage error Indicates a problem with the motor applied voltage inside the amplifier. Possible causes Insufficient power capacity (refer to Section 7.4 for more information about consumption current). Amplifier damage. 12h/14h Over-current Indicates an over-current due to a short circuit on the power line. After detection, the motor enters into the unexcited state. 12hHard Ware detect14hSoft Ware Detect Possible causes Short circuit on the motor line. Short circuit on the regenerative connection. Amplifier damage. 13h Sensor Counter error Indicates a misalignment of the sensor A/B-phase. Possible causes Sensor phase misalignment. * If this error occurs, motor replacement is necessary. 4-12
Page 1 and 2: M0007302 SANMOTION CLOSED LOOP STEP
Page 3 and 4: 1. 1 Introduction 11 1. 2 Location
Page 5 and 6: Preface Shipping the product This p
Page 7 and 8: 8. 1 Optional Cables 81 8. 2 Opti
Page 9 and 10: 1. Safety Precautions This chap
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Page 17 and 18: 2. Model Number Nomenclature 2.2.3
Page 19 and 20: 3. Installation, Wiring and Operati
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6. Communication specifications 6.1
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7. Specifications 7.2 Motor Standar
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7. Specifications
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7. Specifications 7.5.2 Motor Drawi
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8. Options 82 8.1.3 Cable Drawings
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8. Options 8.3 Optional Communicati
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International Standards Conformity
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Closed Loop Stepping System PB seri
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