34h Command Pulse Error: OMRON PLCs

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34h Command Pulse Error: OMRON PLCs

Post by om_tech_support_CF » Wed Aug 25, 2021 12:58 pm

The 34h alarm generated on AZ series EtherCAT drivers is typically experienced when the wrap function is enabled on Oriental motor’s drivers and the modulo settings on Omron PLCs are set to the factory setting. Depending on the (motor) product paired with the EtherCAT drive, the resolution will be different. This means there are many potential values that can be set in the wrap, resolution and PLC modulo parameters. A customer should follow the below steps to resolve the 34h alarm. In this example, I will be showing the values that work with DGM130R-AZAK and AZD-KED.

1. Check resolution in MEXE02 for applicable EtherCAT product.
a.) If Gear A and Gear B have not been changed, the resolution for the DGM130R-AZAK actuator would be 180,000 ppr. (The equation for calculating resolution when using an EtherCAT drive is Gear B / Gear A * 10,000. Factory settings for Gear A and Gear B are both 1. This DG also has an 18:1 gear ratio, so 10,000 * 18 = 180,000.) Note: Other DG actuators may have a different gear ratio, refer to your spec page.

2. Set the desired wrap settings in the Motor & Mechanism Tab in MEXE02.
a.) To have the position counter reset after 1 rev, set the following settings:

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3. In Sysmac Studio check the following 3 settings:
a.) Unit Conversion Settings: Depending on the desired unit (in this case pulse), the first field should be set to the amount of pulses required to make one full revolution. The second field should be set depending on the application. In this example, we will also use 180,000.

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b.) Position Count Settings: This does not directly reflect the 34h alarm, but should still be set accordingly. We will use values of 0 and 180,000 for min/max.

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c.) Servo Drive Settings: This should be set to the min / max pulses required for one full rev. We will use 0 and 180,000 for min/max.

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Should you have any further questions please contact us at [email protected] or call at 1-800-GO VEXTA.

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