Okuma Alarm-B 2186 MCS Collision detected
The NC torque limiter has detected collision of axis by monitoring the relation between motor output torque and motor
acceleration.
Object
Axis name or none (spindle)
Character-string
None
Code
XXXXYYYY
XXXX: Detected torque (sum of torque data collected for 3.2 ms)
+-2^-12[MAXTRQ]
If Tv = 0.4 ms, the momentary maximum torque is H’7FFF.
If Tv = 0.8 ms, the momentary maximum torque is H’3FFF.
If Tv = 0.4 ms, the momentary maximum torque is H’7FFF.
If Tv = 0.8 ms, the momentary maximum torque is H’3FFF.
YYYY: Detected acceleration (average torque measured for 3.2 ms)
+-2^-16[vr/3.2 ms/3.2 ms]
= about 0.1 [1/min/ms]
= about 0.1 [1/min/ms]
Probable Faulty Locations
– Collision
– Motor encoder
– NC torque limiter set value