Cause

The move executed in the final phase of the zero cycle is greater than the parameter specified in the instruction mva_zc

<axis>

Axis number (1-32)

<code>

Error code:

•1 = Missing micro of 0 or end of strokes during the first setup step

•2 = Missing micro of 0 during the second step

•3 = Cycle 0 did not occur in programmed space in data structure. If end of strokes plus index zero cycle, could be final displacement parameter (spSch) set to zero

•4 = Error at HW programming stage for photo execution

•5 = Error from HW for photo execution

•6 = Error in waiting phase of HW for photo execution

•7 = Cycle 0 with end of strokes, problems during torque reduction

•8 = Cycle 0 with end of strokes, problems during torque re-set and drop of end of strokes

•9 = Cycle 0 with end of strokes, problems during torque re-setting

Output condition

Effect

Zero cycle not performed

What to do

Check all components used to perform zero cycle (e.g., zero micro, encoder, ...)

Alarm mask

am[<axis>].17

Alarm par prominent

No

Alarm type

Axis

Notes