11 - Support
Contents
1. ueu zuleN pue 10113 Error and Maintenance 11 4 Troubleshooting Mamm Error conditions Sake wien ator Cause Measures display occurs The Overrun Limit Adjust the gain Setting Pn514 was Increase the set value 34 Overrun limit error Occurs during operation exceeded dunn of Pn514 oper ticn 9 Set Pn514 to 0 to P i disable the function There are data errors in the _ Reset all parameters 36 Parametererror Occurs when the power parameters that were read supply is turned ON The driver is faulty Replace the driver 37 Parameters destruction Occurs when the power 1 3 The parameters that Replace the driver supply is turned ON were read are corrupt Wire correctly The forward drive Replace the limit sensor Occurs when the servo is prohibition POT input Check whether the 38 Drive prohibition input turned ON and reverse drive power supply for control error Or occurs during prohibition NOT input is input correctly operation were both OFF atthe Checkwhether the setting for same time Drive Prohibition Input Selection Pn504 is correct Thevoltageinputtonini Reduce the input voltage 39 Excessive analog input 1 Occurs during operation 14 is too a h P p Change the value for gn Pn424 Pn427 and Pn430 Absolute encoder Occurs when the power The voltage supplied to Setup the absolute encoder 40 system down error supply is turned ON the absolute encoderis C2. Wire the encoder wiring Fix the locations that are disconnected Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 17 ueu zuleN pue 10113 Error and Maintenance 11 4 Troubleshooting Error Diagnosis Using the Operation Status Symptom Probable cause Items to check Measures The PWR LED indicator does not light when the power supply is turned ON The power supply cable is wired incorrectly Check whether the power supply input is within the allowed power supply voltage range Supply the correct power supply voltage Check whether the power supply input is wired correctly Wire correctly The motor does not rotate even if commands are input from the controller Continued on next page The operation command RUN is OFF In MONITOR mode check whether the RUN signal is ON or OFF Turn ON the operation command RUN Wire correctly The forward drive prohibition POT and reverse drive prohibition NOT are OFF In MONITOR mode check whether the POT signal and NOT signal are ON or OFF Turn ON the POT and NOT signals If the POT and NOT inputs are not used set them to be disabled The CONTROL mode is not correct Check the CONTROL mode Selection Pn001 Set the CONTROL mode to match the command type The error counter reset ECRST is ON In MONITOR mode check whether the ECRST signal is ON or OFF Tur
3. ueu zuleN pue 10113 Error and Maintenance 11 3 Alarm List Extended Alarms 11 10 Error No Error detection function Detection details and probable cause Main Sub 46 0 Absolute Error Absolute encoder status is abnormal 51 6 External Scale Error External scale status is abnormal 0 U Phase Phase Current U Phase Current Detection Value is abnormal when Detection Error objecting servo off to servo on 70 1 W Phase Phase Current W Phase Current Detection Value is abnormal when Detection Error objecting servo off to servo on 2 shalt Detection Syste Setting value of Current Detection Systemu is abnormal 0 Al2 Input Error Analog Input Voltage 2 value is abnormal 11 V over is lasting 200 ms 71 1 Al3input Error Analog Input Voltage 3 value is abnormal 11 V over is lasting 200 ms 72 0 Thermal Error Hardware is abnormal 73 0 YDE Delechon System Hardware is abnormal Error 0 Internal RAM Error Microcomputer is abnormal 76 1 Internal ROM Error Internal ROM is abnormal 77 0 Stacke Error Lack of Stack Area 78 0 Encoder EEPROM Error Encoder EEPROM Check is abnormal 96 0 LSI Initialization Error Falut of MNM1223 initialization 97 0 Setting Error Encoder type and control mode are unmatching 99 0 Hardware Error Power curcuit detects the something hardware error 99 1 Encoder Setting Error Encoder Setting is not correct Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL
4. temperat r is t Increase the capacity 15 Driver overheat Occurs during operation high of the driver and motor Reduce the load Extend the acceleration deceleration times The load is too large There is an error in the motor wiring the wiring or the connections are faulty Wire the motor power cable correctly Occurs when the servo is turned ON The electromagnetic brake is ON Turn OFF the brake The Servo Drive is faulty Replace the driver 16 Overload The effective torque Review the load conditions exceeds the rated torque and operating conditions The initial torque exceeds Review the motor the maximum torque capacity Occurs during operation Unusual noise or vibration is caused by Adjust the gain correctly faulty gain adjustment The Servo Drive is faulty Replace the driver Calculate the regenerative energy and connect an Load inertia is too External Regeneration Resistor large with the required regeneration absorption capacity Extend the deceleration time Reduce the motor rotation speed Occurs when the motor is ray tah Extend the deceleration time The deceleration time decelerating Calculate the regenerative is too short energy and connect an The motor rotation eueed istoo high External Regeneration P gn Resistor with the required regeneration absorption capacity
5. 11 4 Troubleshooting If an error occurs in the machine determine the error conditions from the alarm displays and operation status identify the cause of the error and take appropriate measures 11 4 Troubleshooting Error Diagnosis Using the Alarm Displays Alarm ae Status when error display Error conditions Beets Cause Measures The power supply voltage is low Momentary power i Increase the power interruption occurred Power supply capacity supply capacity eae ot Change the power is insufficient supply The power supply voltage Turn ON the power is reduced because the tip main power supply is OFF ppYy The main power supply is not input 411 Power supply Occurs when the servo is p undervoltage turned ON Power supply capacity Increase the power is insufficient supply capacity Connect the phases L1 L2 L3 of the power Phase loss supply voltage correctly Forsingle phase connect to L1 and L3 correctly The main circuit power supply is damaged Replace the driver Control PCB error Main circuit power Change the main circuit Occurs when the power 5 i supply voltage is out of power supply voltage to supply is turned ON es allowable range within allowable range Calculate the regenerative energy and connect an Load inertia is too Extemal Regeneration large Resistor with the required Occurs when the motor is l regeneration absorption decelerating ca
6. When using the driver in continuous operation use fans or air conditioners to maintain an ambient temperature below 40 C We recommend that ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the driver The limit of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally an increase of 10 C in the operating ambient temperature will reduce capacitor limit by 50 Following equation shows an example for 25 C 55 25 Lifetime Lifetimessoc x 2 10 224000 hours The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no power supplied If the driver is not used for a long time we recommend a periodic inspection and replacement schedule of 5 years If the Servomotor or Servo Drive is not to be used for a long time or if they are to be used under conditions worse than those described above a periodic inspection schedule of 5 years is recommended Upon request OMRON will examine the Servo Drive and Servomotor and determine if a replacement is required Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 23 ueu zuleN pue 10113 Error and Maintenance 11 5 Periodic Maintenance Replacing the Absolute Encoder Battery EES Replace the absolute encoder backup battery if it has been used for more than 3 years or if an absolute encoder system down error alarm display No 40 h
7. driver detects an error the alarm output ALM will turn ON the power drive circuit in the driver will turn OFF and the alarm code will be displayed l Precautions for Correct Use Refer to Error Diagnosis Using the Alarm Displays P 11 11 for appropriate alarm measures Release the alarm using one of the following methods Remove the cause of the alarm first Input the alarm reset input RESET signal Turn OFF the power supply then turn it ON again Execute the alarm reset on the Parameter Unit However some alarms can only be reset by turning the power supply OFF then ON again Refer to the next item Alarm List If you release an alarm while the operation command RUN is turned ON the Servo Drive will start operation as soon as the alarm is released which is dangerous Be sure to turn OFF the RUN before clearing the alarm If the RUN is always ON first check safety sufficiently before clearing the alarm When an alarm occurs the servodrive latches the status of the servodrive just before the alarm occurence Those latched values can be read with the software tool for diagnostics Refer to the CX Drive for details The stop mode in case of an alarm may vary depending on the Immediate stop attribute in each alarm Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL i Alarm List 11 3 Alarm List Eliot Attribute number r D
8. of continuous communications occurrences of encoder A4 warning V communications error 5 bit 4 exceeded the specified value Encoder The encoder detects A5 overheating y the overheating 6 bit 3 warning warning Vibration Vibration is detected A6 detection V 7 bit 9 warning Limit detection Always The limit of the capacitor A7 warning fixed with or the fan is below the 8 bit 2 no time limit specified value A8 External scale 4 The external scale 9 bit 8 error warning detected a warning External scale The number of occurrences of AQ communications N external scale 10 bit 10 warning communications error exceeded the specified value 1 The V fields can be set to 1 to 10 s in the Warning Latch Hold Time Selection Pn627 or to the no time limit setting However the battery warning is fixed with no time limit 2 Select the type of warning to be output in warning output 1 WARN1 and warning output 2 WARN2 in the Warning Output Selection 1 Pn440 and Warning Output Selection 2 Pn441 If you set this to O all warning types will be output Do not set it to a value other than above 3 Each warning detection can be masked using the Warning Mask Setting Pn638 The table shows the corresponding bits The warning detection is masked when the bit 1 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 5 ueu zuleN pue 10113 Error and Maintenance 11 3 Alarm List 11 3 Alarm List If the
9. 18 Regeneration overload The operating limit of the Set Pn016 to 2 External Regeneration For details refer to Resistor is limited to 10 duty Parameters Details Add a counterbalance to the machine to lower gravitational torque Reduce the descent speed Gravitational torque is Calculate the regenerative too large energy and connect an Occurs during descent External Regeneration vertical axis Resistor with the required regeneration absorption capacity The operating limit of the Set Pn016 to 2 External Regeneration For details refer to Resistor is limited to 10 duty Parameters Details Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 13 ueu zuleN pue 10113 Error and Maintenance 11 4 Troubleshooting Alarm Status when error Error condition display or conditions re Cause Measures sT he encoders Fix the locations that disconnected f are disconnected Connector contacts j Wire correctly are faulty The encoder is wired P Encoder Wire correctly 21 TIE Occurs during operation incorrectly communications error The encoder is damaged Replace the motor The driver is faulty Replace the driver The motor is Ifthe motor shaft is mechanically held held release it The encoder signal line Wire correctly is wired incorrectly Occurs when the power Noise on the enc
10. AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting Alarm display Error conditions Status when error occurs Cause Measures 50 External scale communications error Occurs during operation The disconnection detection function was activated because communications between the external scale and driver were interrupted Wire correctly Fix the locations that are disconnected There was a communications error in data from external scale Provide the required external scale power supply voltage Wire correctly Connect the shield to FG 51 External scale status error Occurs during operation An external scale error code was detected Check the external scale specifications From the front panel clear the external scale error then turn the power supply OFF then ON again 55 Phases A B and Z connection error Occurs during operation A disconnection or other error was detected in external scale phase A phase B or phase Z connection Check the connection 87 Forced alarm input error Occurs during operation The forced alarm input signal was input Turn OFF the EMG STOP signal 95 Motor non conformity Occurs when the power supply is turned ON The motor and driver combination is incorrect Use a correct combination The encoder wiring is disconnected
11. C SERVOMOTOR AND SERVO DRIVE USER S MANUAL Battery Mounting Method 1 Prepare the replacement battery R88A BAT01G Raise the tabs and remove the cover 3 Put the battery into the battery box Insert the battery Plug in the connector 4 Close the cover to the battery box Close the battery box cover by making sure the connector wires are not pinched A Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 5 Periodic Maintenance 11 25 ueu zuleN pue 10113
12. DRIVE USER S MANUAL 11 4 Troubleshooting Symptom Probable cause Items to check Measures The motor is producing unusual noises or the machine is vibrating Continued from previous page The machine and the motor are resonating Check whether the machine is resonating Readjust the torque command filter time constant If there is resonance set the Notch Filter 1 Frequency Pn201 Notch Filter 1 Width Pn202 and Notch Filter 1 Depth Pn203 Vibration is occurring at the same frequency as the power supply Inductive noise is occurring Check whether the driver control signal lines are too long Shorten the control signal lines Check whether the control signal lines and power supply lines are not bound together Separate control signal lines from power supply lines Use a low impedance power supply for control signals The position is misaligned Position misalignment occurs without an alarm being output There is an error in the coupling of the mechanical system and the Servomotor Check whether the coupling of the mechanical system and the Servomotor is misaligned Correct the coupling between the mechanical system and the Servomotor Noise is entering the error counter reset ECRST Check whether the control signal lines and power supply lines are not bound together Separate the control signal lines from the power lines or take ot
13. Error and Maintenance SSS This chapter explains the items to check when problems occur error diagnosis using the alarm LED display and measures error diagnosis based on the operating condition and measures and periodic maintenance 11 1 Error ProceSsSinGicciinvsistesatsnetanrevascueesodietuavencteucecxsadiins 11 2 Preliminary Checks When a Problem OCCUIS ccccssseeeeeeeeees 11 2 Precautions When a Problem OCCUIS c cccceeteeeeeteeeeeneeeeeaes 11 3 Replacing the Servomotor and Servo Drive 11 4 11 2 Warning LSU si ccvccunisrsitnaarataransatesanesecwenducesnaisncusweavanavae 11 5 11 3 Alarm Cita sidicsiecawekccncccecnncteacactcccsdaiadiatemesndetenstectessnaness 11 6 11 4 Troubleshooting ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 11 11 Error Diagnosis Using the Alarm Displays c cceeeeeseeeeeeeee 11 11 Error Diagnosis Using the Operation Status eeeeeeee 11 18 11 5 Periodic Maintenance sseseceeesseneeeeeeneeeees 11 22 Se rvomotor Limi aeiio eie aar 11 22 Servo Drive Limit ccccccecceeesssceceeseseceeeessseneeeeeseesseeeessesseeeess 11 23 Replacing the Absolute Encoder Battery eeen 11 24 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Error and Maintenance 11 1 Error Processing 11 1 Error Processing Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical softwares required to determine th
14. as occurred i Replacement Battery Model and Specifications Item Specifications Name Absolute Encoder Backup Battery Unit Model R88A BAT01G Battery model ER6V Toshiba Battery voltage 3 6 V Current capacity 2 000 mA h i Mounting the Backup Battery Mounting the Battery for the First Time Connect the absolute encoder battery to the motor then set up the absolute encoder Refer to Absolute Encoder Setup P 9 5 Once the absolute encoder battery is attached it is recommended that the control power supply be turned ON and OFF once a day to refresh the battery If you neglect to refresh the battery battery errors will occur due to voltage delay in the battery Replacing the Battery If a battery warning occurs the absolute encoder power supply must be replaced Replace the battery with the control power supply of the driver ON If the battery is replaced with the control power supply of the driver OFF data held in the encoder will be lost Once the absolute encoder battery has been replaced clear the battery warning by alarm clear from the front panel Refer to Alarm Clear P 9 26 for information on clearing alarms 11 24 Note If the absolute encoder is cleared using the front panel or the absolute values are cleared using communications all error and multi rotation data will be lost and the absolute encoder must be set up Refer to Absolute Encoder Setup P 9 5 Accurax G5 A
15. ator Pn009 Pn500 to Pn502 is not appropriate Set the electronic gear ratio numerator so that the command pulse frequency is 500 Kpps max Pulse regeneration The pulse regeneration Check the set value of Pn011 and Pn503 28 airs Occurs during operation output frequency Set Pn533 to 0 to exceeded the limit gt disable the function Check that the motor rotates according to the position command Check on the torque The error counter value monitor that the output for the encoder pulse f 29 Error counter overflow Occurs during operation torque is not saturated reference exceeded lt Adiust the gain 229 536 870 912 J gan Increase the setting for Pn013 or Pn524 to the maximum Wire the encoder correctly Safety input signal Check the statuses of 30 Safety input error Occurs during operation turned OFF safety inputs 1 and 2 There is a duplicate setting in the I O signal function allocation Set the function Specify the undefined allocation correctly number with the I O 33 Interface I O allocation Occurs when the power signal function allocation error supply is turned ON There is a mistake in the counter function allocation Allocate to SI7 There is a mistake in the command pulse prohibition input function allocation Allocate to SI10 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 15
16. ce the driver Control PCB damage Control PCB error Replace the driver Repairthe short circuited or The motor powerline is ground faulted power line short circuited or Measure the insulation ground faulted resistance at the motor between phases and if there is a short circuit replace the motor Phase U phase V phase W and the ground are Wire correctly wired incorrectly Measure the winding Motor winding is resistance and if the burned out winding is burned out replace the motor Do not frequently input the operation is The relay for the 14 Overcurrent Occurs when the servo is y command RUN input turned ON dynamic brake has been deposited Do not operate the system by turning the servo ON and OFF Motor non conformity Use a motor that is appropriate for use with the driver The pulse input timing is too soon Wait atleast 100 ms before inputting pulses after turning ON the operation command RUN The resistor in the driver is abnormally overheating Reduce the ambient temperature of the driver to 55 C or lower If the relay does not click when the power supply is turned ON replace the driver 11 12 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting Aam Error conditions Sake ie eiia Cause Measures display occurs Lower the ambient The ambient temperature
17. e cause of a problem if one occurs i Checking the Power Supply Voltage Check the voltage at the power supply input terminals Main circuit power supply input terminal L1 L2 L3 R88D KTXxL 50 to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D KTxH 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 750 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 to 15 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KTXxF 750 W to 15 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz Control circuit power supply input terminal L1C L2C R88D KTXL 50 to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D KTxH 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 to 15 kW Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KTXF 750 W to 15 kW 24 VDC 21 6 to 26 4 V If the voltage is out of this range there is a risk of operation failure so be sure that the power supply is correct Check the voltage of the sequence input power supply 24 VIN terminal CN1 pin 7 Within the range of 11 to 25 VDC If the voltage is out of this range there is a risk of operation failure Be sure that the power supply is correct i Checking Whether an Alarm Has Occurred Make an analysis using the 7 segment LED display area in the front of the driver and using the Operation keys When an alarm has occurred Check the alarm display that is disp
18. e cable because the encoder cable does not meet specifications Check that it is a twisted pair shielded cable with core wires that are at least 0 12 mm Use encoder cable that meets specifications Noise is entering the encoder cable because the cable is longer than the specified length Check the length of the encoder cable Shorten the encoder cable to less than 50 m Noise is entering the signal lines because the encoder cable is stuck or the sheath is damaged Check the encoder cable for damage Correct the encoder cable s pathway Too much noise is entering the encoder cable Check whether the encoder cable is bound together with or too close to high current lines Install the encoder cable where it won t be subjected to surges The FG s potential is fluctuating due to devices near the Servomotor such as welding machines Check for ground problems loss of ground or incomplete ground at equipment such as welding machines near the Servomotor Ground the equipment properly and prevent currents from flowing to the encoder FG Errors are being caused by excessive vibration or shock on the encoder There are problems with mechanical vibration or motor installation such as the precision of the mounting surface attachment or axial offset Reduce the mechanical vibration or correct the Servomotor s installation 11 20 Accurax G5 AC SERVOMOTOR AND SERVO
19. etection details and probable Error detection function A RENA an be Immediate Main Sub History cleared stopi Control power supply The DC voltage of the main circuit fell 11 0 undervoltage below the specified value while the V operation command RUN input was ON Overvoltage The DC voltage in the main circuit is 12 Jo V V abnormally high Main power supply undervoltage The DC voltage of the main circuit is 0 Insufficient voltage between P low V and N 13 Main power supply A location was detected where the 1 undervoltage main circuit AC power supply is cut off V AC cut off detection 0 Overcurrent Overcurrent flowed to the IGBT V 14 1 IPM error Motor power line ground fault or short circuit V 15 0 Driver overheat The temperature of the driver radiator J 7 J exceeded the specified value Overload Operation was performed with torque 16 0 significantly exceeding the rating for several V V seconds to several tens of seconds Regeneration overload The regenerative energy exceeds the 0 processing capacity of the V V 18 Regeneration Resistor A Regeneration Tr error An error was detected in a driver N 7 a regeneration drive Tr 0 Encoder communications The encoder wiring is disconnected N K B disconnection error 21 A Encoder communications An encoder communications error y E 7 error was detected 23 0 Encoder communications Communications cannot be performed A 7 B data error between the e
20. f the speed command method is correct Set the external analog command correctly Set the internal speed correctly 11 18 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting Symptom Probable cause Items to check Measures The motor does not rotate even if commands are input from the controller Continued from previous page The torque command is disabled Check if the torque command input method is correct Set the torque command correctly The CW input and CCW input are ON at the same time Check the command pulse s wiring Input the pulse signal either to the CW input or CCW input Always turn OFF the terminal that is not input to Servo Drive is faulty Replace the Servo Drive The motor operates momentarily but then it does not operate after that The motor power cable is wired incorrectly Check the wiring of the motor power cable s phases U V and W Wire correctly The encoder cable is wired incorrectly Check the encoder cable s wiring Wire correctly The motor rotates without a command The command pulse input is incorrect Check the command pulse type Set the correct command pulse input Check the command pulse s voltage Connect a resistor that matches the voltage Servo Drive is faulty Replace the Servo Drive The motor rotates in the reverse direction from the comma
21. for full closing position according to Check the external scale 25 the external scale and and driver connection deviation error control the motor position according to the encoder Check the external scale load position and encoder motor position settings 11 14 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting Gaia Error conditions a L ahs Cause Measures The speed command Set the command pulse input is too large frequency to 500 Kpps max The setting forthe Electronic Set the electronic gear Gear Ratio Numerator ratio numerator so that the Pn009 Pn500 to Pn502 is command pulse frequency Occurs during high speed not appropriate is 500 Kpps max rotation The maximum rotation Adjust the gain 26 Overspeed speed is exceeded due Reduce the maximum to overshooting command speed The encoder is wired Wire correctly incorrectly The set value for the If torque limit switching Occurs when torque limit Overspeed Detection function is used correctly switching function is used Level setting Pn513 set the allowable operating is exceeded speed for Pn014 Check the command The command pulse input frequency pale npr ieee Increase the set value Occurs when control exceeded the limit of Pn532 27 Command pulse error signal is input or command is input The setting forthe Electronic Gear Ratio Numer
22. he motor rotation speed too high Review the load conditions and replace the Servomotor and Servo Drive with appropriate models The stop circuit failed Replace the driver The motor is producing unusual noises or the machine is vibrating Continued on next page There are problems with the machine s installation Check whether the Servomotor s mounting screws are loose Retighten the mounting screws Check whether the axes are misaligned in the coupling Align the coupling Check whether the coupling is unbalanced Adjust the coupling s balance There is a problem with the bearings Check for noise or vibration around the bearings Contact your OMRON dealer or sales office The gain is wrong Perform manual tuning The Speed Feedback Filter Time Constant Pn is wrong Check the set value of Pn Return the set to 0 default set or increase the set value Noise is entering the control I O signal cable because the cable does not meet specifications Check that it is a twisted pair wire or twisted pair shielded cable with core wires that are at least 0 08 mm2 Use control I O signal cable that meets specifications Noise is entering the control I O signal cable because the cable is longer than the specified length Check the length of the control I O signal cable Shorten the control I O signal cable to 3 m or less Noise is entering th
23. her measures against noise The gain is wrong Perform manual tuning The load inertia is large Inspect the following Is the load too large Is the motor rotation speed too high Adjust the gain Review the load conditions and replace the Servomotor and Servo Drive with appropriate models Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 21 ueu zuleN pue 10113 Error and Maintenance 11 5 Periodic Maintenance 11 5 Periodic Maintenance VAN Caution After replacing the unit transfer to the new unit all data needed to resume operation before restarting the operation Equipment damage may result Never repair the product by disassembling it Electric shock or injury may result D Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly Some of the electrical and mechanical components require maintenance depending on application conditions Periodic inspection and replacement are necessary to ensure proper long term operation of Servomotors and Servo Drives Quotes from The Recommendation for Periodic Maintenance of a General purpose Inverter published by JEMA The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotors and Servo Drives Recommended maintenance times are listed below for Servomotors and Ser
24. ired The multi rotation data will be different from before it was replaced so reset the initial Motion Control Unit parameters For details refer to Absolute Encoder Setup P 9 5 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 2 Warning List 11 2 Warning List This is a function to output a warning signal before the protective function operates to notify the overload and other statuses in advance Set the warning output type to Warning Output Selection 1 Pn440 and Waning Output Selection 2 Pn441 l Precautions for Correct Use Each warning automatically returns to the status before it occurred once the system recovers from the error However for the time set in the Warning Latch Hold Time Selection Pn627 the warning status will be held To clear the warning during the latch hold time do so by performing the same procedures as alarm clear i Warning List Warning Warninaname Latch Warning occurrence Warning Output Selection Warning Mask number 9 condition Pn440 Pn441 2 Setting Pn638 ini o AO Overload i The load ratio is 85 or 1 bit 7 warning more of the protection level Excessive The regeneration load Al regeneration V ratio is 85 or more of 2 bit 5 warning the protection level Battery warning Always Battery voltage is 3 2 V A2 fixed with or less 3 bit O no time limit A3 Fan warning F The fan stop status 4 bit 6 continues for 1 s Encoder The number
25. layed xx and make an analysis based on the alarm that is indicated When an alarm has not occurred Make an analysis according to the error conditions In either case refer to 11 4 Troubleshooting P 11 11 for details 11 2 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 1 Error Processing Precautions When a Problem Occurs When checking and verifying I O after a problem has occurred the driver may suddenly start to operate or suddenly stop so always take the following precautions You should assure that anything not described in this manual is not possible with this product i Precautions Disconnect the wire before checking for cable breakage Even if you test conduction with the cable connected test results may not be accurate due to conduction via bypassing circuit If the encoder signal is lost the motor may run away or an error may occur Be sure to disconnect the motor from the mechanical system before checking the encoder signal When measuring the encoder output perform the measurement based on the SENGND CN1 pin 13 When an oscilloscope is used for measurement it will not be affected by noise if measurements are performed using the differential between CH1 and CH2 When performing tests first check that there are no persons in the vicinity of the equipment and that the equipment will not be damaged even if the motor runs away Before performing the tests verify that you can immediately
26. n OFF the ECRST signal Wire correctly The COMMAND PULSE mode Pn007 selection is incorrect Check the controller s command pulse type and the Servo Drive s command pulse type Set the Servo Drive s pulse type to match the controller s command pulse type The zero speed designation VZERO is OFF In MONITOR mode check whether the VZERO signal is ON or OFF Turn ON the VZERO signal Wire correctly The internally set speeds are not set Check the set value of Pn304 to Pn311 Set the desired speeds The No 1 Torque Limit Pn013 or No 2 Torque Limit Pn522 is set to 0 Check the set value of Pn013 and Pn522 Return the set value to the default setting The motor power cable is wired incorrectly The encoder cable is wired incorrectly Check the wiring Wire correctly The control I O connector CN1 is wired incorrectly Check the command pulse s wiring Wire correctly Check the command pulse type Set the Servo Drive s pulse type to match the controller s command pulse type Check the command pulse s voltage Connect a resistor that matches the voltage The power supply is not ON Check whether the power supply is ON and check the PWR LED indicator Turn ON the power supply Check the voltage across the power supply terminals Wire the power supply s ON circuit correctly The speed command is disabled Check i
27. ncoder and the driver Error counter overflow The error counter accumulated pulse 24 jo exceeds the set value for the Error V V y Counter Overflow Level Pn014 Excessive hybrid error During full closing control difference between position of load from external 25 Jo scale and position of motor due to encoder V y was larger than the pulse number set by Excessive Hybrid Error Setting Pn332 0 Overspeed The motor rotation speed exceeded the set J 4 J value of the Overspeed Level set Pn513 26 1 Overspeed 2 The motor rotation speed exceeded the set N B value of the Overspeed Level set 2 Pn615 27 0 Command pulse Acommand pulse frequency error was 2 N y detected Pulse regeneration error The pulse regeneration output 28 O ois V V V frequency exceeded the limit Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 7 ueu zuleN pue 10113 Error and Maintenance 11 3 Alarm List 11 8 mie Attribute number Detection details and probable Error detection function FS ae an be Immediate Main Sub History cleared siop t Error counter overflow Error counter value based on the 29 0 encoder pulse reference exceeded y y 29 536 870 912 30 0 Safety input error Safety input signal turned OFF V 0 Interface input duplicate A duplicate setting for the interface J 7 7 allocation error 1 input signals wa
28. nd The CW input and CCW input connections are reversed Check the controller s command pulse type and the Servo Drive s command pulse type Connect the CW pulse signal to the CW input and the CCW pulse signal to the CCW input Motor rotation is The motor power cable or Check the wiring of the motor power Wire correctly unstable encoder cable is wired cable s phases U V and W and incorrectly check the encoder cable s wiring The coupling system between the Check the mechanical system s Review and adjust the motor shaft and the mechanical coupling section machine system has eccentricity or loose f F snes orhe kadiou onnea A hon in eaea fluctuating due to engagement system between pulleys or gears y The load s moment of inertia Try rotating the motor without a load Reduce the load exceeds the Servo Drive s Disconnect it from the mechanical Replace the Servomotor allowable value system and Servo Drive with higher capacity models The pulse signal line s Check the pulse signal line s wiring Wire correctly connections are loose at the controller and Servo Drive Check the controller s command Set the Servo Drive s pulse pulse type and the Servo Drive s type to match the controller s command pulse type command pulse type The gain is wrong Perform manual tuning The CN1 input signal is Check the operation command RUN Wire correctly so that there is chattering e
29. oder wiring Take measures against Encoder supply is turned ON causes incorrect operation noise on the encoder wirin 23 communications data ppYy i P i 9 Aba Or occurs during PEE EAR operation ee eee eer Provide the required supply voltage has dropped especially encoder power supply fe when the cable is long voltage 3 VOC 5 The motor power line or the Ana Wire correctly encoder wiring is incorrect Occurs when the motor if the motor shaft is does not rotate even when The motor is held release it command pulses are mechanically held Release the input electromagnetic brake Control PCB error Replace the driver Occurs during high speed Tiesto power ling f i or the encoder wiringis Wire correctly rotation incorrect in adjustment i 24 Error counter overflow Ga adjustment is Adjust the gain insufficient rs wh i A 3 Occurs when along string The acceleration Extend the acceleration of command pulses is ae f ee deceleration is too rapid deceleration times given Reduce the load Th e load iSto larg Select a suitable motor Increase the set value The set value for the of Pn014 Occurs d rnaopera o Error Counter Overflow Reduce the rotation speed g op Level Pn014 is Reduce the load exceeded Extend the acceleration deceleration times There is deviation Check the motor and between the load load connection Excessive hybrid Occurs
30. onnect the battery Occurs during operation low power supply Absolute encoder The multi rotation counter of Properly set the Operation 41 counter overflow error Occurs during operation the absolute encoder Switch when Using exceeds the specified value Absolute Encoder Pn015 The motor rotation speed Reduce the motor Absolute encoder Occurs when hepower exceeds the specified r tation speed and 42 overspeed error i p value when the battery P supply is turned ON supply power power supply is turned ON cas ABS ee es Check the wiring The wiring is incorrect Absolute encoder 1 turn Occurs when the power F Replace the 44 F The encoder is faulty counter error IENE supply is turned ON Servomotor Absolute encoder multis Occurs when the power Replace the 45 rotation counter error F The encoder is faulty TABS supply is turned ON Servomotor Absolute encoder Occurs when the power TG MOI WAS MOVING BO nor let Mis Motor 47 Status error s p ly is turned ON when the power supply move when the power ABS PPly i was turned ON supply is turned ON A phase Z pulse from 48 Encoder phase Z error Occurs during operation the encoder was not Replace the motor detected regularly A logic error was 49 Encoder PS signal error Occurs during operation detected in the PS Replace the motor signal from the encoder 11 16 Accurax G5 AC SERVOMOTOR
31. pacity om Extend the deceleration time Main circuit power Change the main circuit 12 Overvoltage supply voltage is out of allowable range power supply voltage to within allowable range Occurs during descent vertical axis Gravitational torque is too large Add a counterbalance to the machine to lower gravitational torque Reduce the descent speed Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 11 ueu zuleN pue 10113 Error and Maintenance 11 4 Troubleshooting Alarm display Error conditions Status when error occurs Cause Measures Main circuit power Occurs when the servo is turned ON The power supply voltage is low Momentary power interruption occurred Power supply capacity is insufficient The power supply voltage is reduced because the main power supply is OFF The main power supply Check the power supply capacity Change the power supply Turn ON the power supply Extend the Momentary Hold Time Pn509 13 supply undervoltage is not input Correctly connect the phases of the power supply voltage Phase loss Occurs when the power oy ne supply is turned ON gle P i The main circuit power supply is damaged Repla
32. rror counter reset ECRST zero speed no chattering designation VZERO internally set speed selection 1 VSEL1 and internally set speed selection 2 VSEL2 The motor is The ambient temperature is Check that the ambient temperature Lower the ambient temperature overheating too high around the motor is 40 C or less around the motor to 40 C or less Use a fan or air conditioner Ventilation is obstructed Check to see whether anything is blocking ventilation Improve ventilation The motor is overloaded The motor is vibrating Try rotating the motor without a load Disconnect it from the mechanical system Reduce the load Replace the Servomotor and Servo Drive with higher capacity models Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 19 ueu zuleN pue 10113 Error and Maintenance 11 4 Troubleshooting Symptom Probable cause Items to check Measures The motor holding brake is ineffective Power is supplied to the holding brake Check whether power is supplied to the holding brake Configure a circuit that cuts power supply to the holding brake when the motor stops and the load is held by the holding brake The motor does not stop or is hard to stop even if the operation command RUN is turned OFF while the motor is rotating The load inertia is too large Check the following Is the load too large Is t
33. s detected Interface input duplicate N 1 allocation error 2 2 Interface input function An undefined number was detected in J B 2 number error 1 the interface input signal allocations Interface input function 3 V number error 2 33 4 Interface output function An undefined number was detected in J 7 7 number error 1 the interface output signal allocations Interface output function 5 V number error 2 Counter reset allocation The counter reset function was allocated 6 i i V error to something other than input signal SI7 Command pulse The command pulse prohibition input 7 prohibition input allocation function was allocated to something y error other than input signal S110 Overrun limit error The motor exceeded the allowable 34 0 operating range set in the Overrun 4 J Limit Setting Pn514 with respect to the position command input Parameter error Data in the Parameter Save area was 0 to 36 2 corrupted when the power supply was turned ON and data was read from the EEPROM Oto Parameters destruction The checksum for the data read from 37 2 the EEPROM when the power supply was turned ON does not match 38 0 Drive prohibition input The forward drive prohibition and reverse 7 N E error drive prohibition inputs are both turned OFF Excessive analog input 1 A current exceeding the Speed 0 E fv Command Torque Command Input i Overflow Level Setting Pn424 Pn427 39 1 Peesi andog apie or Pn430
34. stop the machine using an immediate stop even if it runs away Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 3 ueu zuleN pue 10113 Error and Maintenance 11 1 Error Processing Replacing the Servomotor and Servo Drive Use the following procedure to replace the Servomotor or Servo Drive ii Replacing the Servomotor 1 Replace the motor 2 Perform origin adjustment for position control When the motor is replaced the motor s origin position phase Z may deviate so origin adjustment must be performed Refer to the Position Controller s manual for details on performing origin adjustment 3 Set up the absolute encoder If a motor with an absolute encoder is used the absolute value data in the absolute encoder will be cleared when the motor is replaced so setup is again required The multi rotation data will be different from before it was replaced so reset the initial Motion Control Unit parameters For details refer to Absolute Encoder Setup P 9 5 i Replacing the Servo Drive 1 Copy the parameters Use the Operation keys on the driver to write down all the contents of parameter settings 2 Replace the driver 3 Set the parameters Use the Operation keys on the driver to set all the parameters 4 Set up the absolute encoder If a motor with an absolute encoder is used the absolute value data in the absolute encoder will be cleared when the driver is replaced so setup is again requ
35. ted 49 0 Encoder CS signal error A logic error was detected in the CS J E 7 signal for serial incremental encoder 0 External scale connection An error was detected in external j B o error scale connection 50 A External scale An error was detected in external J 7 o communications data error scale communications data 0 External scale status error 0 An external scale error code was y detected 1 External scale status error 1 Vy 2 External scale status error 2 V 51 3 External scale status error 3 y 4 External scale status error 4 V 5 External scale status error 5 y 0 Phase A connection error An error was detected in the external N E _ scale phase A connection 55 A Phase B connection error An error was detected in the external ai B o scale phase B connection 2 Phase Z connection error An error was detected in the external J o B scale phase Z connection 87 0 Forced alarm input error The forced alarm input signal was N y o input Motor non conformity The combination of the Servomotor and Servo Drive is not appropriate 95 0 The encoder was not connected when the power supply was turned ON 1 An immediate stop means an error causing an immediate stop when the Pn510 Stop Selection for Alarm Generation is set to 4 to 7 For details refer to Stop Selection for Alarm Generation P 8 50 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 9
36. vo Drives Use these for reference in periodic maintenance Servomotor Limit The lifetime for the different motor parts is listed below Bearings 20 000 hours Oil seal 5 000 hours Encoder 30 000 hours These values presume an ambient motor operating temperature of 40 C within the allowable axial load rated operation rated torque and rated rotation speed and proper installation as described in this manual The oil seal can be replaced The radial load during operation rotation on timing pulleys and other components contacting belts is twice or more the still load Consult with the belt and pulley manufacturers and adjust designs and system settings so that the motor allowable axial load is not exceeded even during operation If a motor is used under a shaft load exceeding the allowable limit the motor shaft can break and the bearings can burn out 11 22 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 5 Periodic Maintenance Servo Drive Limit The lifetime for the different drive parts is listed below Aluminum electrolytic capacitors 28 000 hours at an ambient driver operating temperature of 55 C constant output of rated torque constant output of rated rotation speed and installation as described in this manual Axial flow fan 10 000 to 30 000 hours The limit depends on the operating conditions Inrush current prevention relay Approx 20 000 operations The limit depends on the operation conditions
37. was applied to the analog V V V command input pin 14 2 Excessive analog input 3 J J A Absolute encoder system The voltage supplied to the absolute 4 J 40 O is lower than th ified val down error ABS encoder is lower than the specified value Absolute encoder counter The multi rotation counter of the absolute 41 0 overflow error ABS encoder exceeds the specified value v z Absolute encoder The motor rotation speed exceeds the 42 jo overspeed error ABS specified value when only the battery power V V supply of the absolute encoder is used Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 3 Alarm List Errer Attribute number Detection details and probable Error detection function ENA Sane Gaal an be Immediate Main Sub History cleared stop Encoder initialization error An encoder initialization error was 43 0 NI protection detected Absolute encoder 1 A 1 turn counter error was detected 44 0 rotation counter error N _ Absolute encoder multi A multi rotation counter error or 45 0 rotation counter error phase AB signal error was detected z Absolute encoder status The rotation of the absolute encoder is J 47 jO higher than th ified val error ABS gher than the specified value 48 0 Encoder phase Z error A serial incremental encoder phase Z N 7 pulse irregularity was detec
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