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2.1 AC Servo Drives ∑-V Series Troubleshooting USER`S MANUAL

1. A C80 Absolute Encoder Clear Error and Multi turn Limit Setting Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK 9 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A C90 Encoder Communica tions Error Contact fault of connector or incorrect wiring for encoder cable Check the connector contact status for encoder cable Re insert the connector and confirm that the encoder is correctly wired Cable disconnection for encoder cable or short circuit Or incorrect cable impedance Check the encoder cable Use the cable with the specified rat ing Corrosion caused by improper temperature humidity or gas short circuit caused by intrusion of water drops or cutting oil or connector contact fault caused by vibration Check the operating environment Improve the operating environmen tal conditions and replace the cable If the alarm still occurs replace the SERVOPACK Malfunction caused by noise interference Correct the wiring around the encoder by separating the encoder cable from the servomotor main cir cuit cab
2. Check the moment of inertia ratio Pn103 The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm min Check the length of the encoder cable Check if the encoder cable is bent f Replace the encoder cable and cor and the sheath is damaged rect the cable layout Check if the encoder cable is bun dled with a high current line or near a high current line Check if the machines are correctly grounded Check if there is noise interference on the T O signal line from the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc A SERVOPACK fault occurred The pulse count does not change Host controller multiturn data read ing error Check the error detection section of the host controller Correct the moment of inertia ratio Pn103 Use the specified encoder cable The encoder cable must be no more than 50 m Correct the cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG on the encoder side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replace the servomotor Replace the SERVOPACK Correct the error detection section of the host controller Check if
3. 2 For details on commands refer to 2 V Series User 5 Manual MECHATROLINK II Commands No SIEP S800000 54 9 4 9 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table Problem Probable Cause Investigative Actions Corrective Actions Servomotor Does Not Start The control power supply is not ON Check voltage between control power terminals Correct the wiring The main circuit power supply is not ON Wiring of I O signal connector CN1 is faulty or disconnected Wiring for servomotor main circuit cable or encoder cable is discon nected Check the voltage between main circuit power terminals Correct the wiring Check if the connector CN1 is prop Correct the connector CN1 connec erly inserted and connected tion Check the wiring Correct the wiring Overloaded Run under no load and check the load status Reduce load or replace with larger capacity servomotor Encoder type differs from parame ter setting Pn002 2 Check the settings for parameter Pn002 2 Set parameter Pn002 2 to the encoder type being
4. Reduce the motor reference speed Warning before DB stop exceeds the DB resistance Un00B to see how many Reduce the moment of inertia ratio the alarm A 731 resistance capacity times the DB has been used Reduce the number of times of the occurs DB stop operation A SERVOPACK fault _ The SERVOPACK may be faulty occurred Replace the SERVOPACK A 930 The battery connection Absolute Encod er Battery Error The absolute encoder battery voltage is lower than the specified value is incorrect Check the battery connection Reconnect the battery The battery voltage is lower than the specified value 2 7 V Measure the battery voltage Replace the battery POS A SERVOPACK fault _ The SERVOPACK may be faulty my wien al occurred Replace the SERVOPACK absolute encoder is connected A 94A Refer to 9 3 Monitoring Communica Data Setting Disabled parameter tion Data on Occurrence of an Alarm Warning 1 P or Warning to determine which Use the correct parameter number number was used Parameter Num command was the cause of the ber Error warning A 94B Refer to 9 3 Monitoring Communica Attempted to send val tion Data on Occurrence of an Alarm ils Data Setting Set the value of the parameter within ues outside the range to or Warning to determine which Warning 2 the allowable range Out of Range the command data command was the cause of the Ou 8 warning A 94C Refer
5. occurred Replace the Feedback Option Mod ule A SERVOPACK fault occurred Replace the SERVOPACK 9 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A E74 Unsupported Safety Option Module A safety option module fault occurred Replace the safety option module A unsupported safety option module was connected Refer to the catalog of the con nected safety option module Connect a compatible safety option module A E75 Unsupported Feed back Option Module A EA2 DRV Alarm 2 SERVOPACK WDT error A feedback option module fault occurred A unsupported feedback option module was connected MECHATROLINK transmission cycle fluctuated Refer to the catalog of the con nected feedback option module or the manual of the SERVOPACK Check the MECHATROLINK transmission cycle setting Replace the feedback option mod ule Connect a compatible feedback option module Remove the cause of transmission cycle fluctuation at host controller A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Troubleshooting 9 21 9 22 9 Troubleshooting 9 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Act
6. Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 300 Regeneration Error Regenerative resistor capacity Pn600 is set to a value other than 0 for a SGDV R70 R90 R6 2R1 or 2R8 SERVO PACK and an external regen erative resistor is not connected An external regenerative resis tor is not connected to the SGDV 470 SGDV 550 SGDV 590 SGDV 780 SGDV 210 SGDV 260 SGDV 280 or SGDV 370 SERVOPACK Check the external regenerative resistor connection and the value of the Pn600 Connect the external regenerative resistor or set Pn600 to 0 if no regenerative resistor is required The jumper between the power supply terminals B2 and B3 is removed for the SERVOPACKs other than the SERVOPACKs shown above Confirm that a jumper is mounted between the power supply terminals B2 and B3 Correctly mount a jumper The external regenerative resis tor is incorrectly wired or is removed or disconnected Check the external regenerative resistor connection Correctly connect the external regenerative resistor A SERVOPACK fault occurred While the main circuit power sup ply is OFF turn the control power supply OFF and then ON again If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK A 320 Regenerative Over load The power supply voltage exceeds the specified limit Measure the power supply voltage
7. P OT N OT allocation parameters Pn50A 3 Pn50B 0 Check if the P OT signal is allo If another signal is allocated in cated in Pn50A 3 Pn50A 3 allocate P OT Check if the N OT signal is allo If another signal is allocated in cated in Pn50B 0 Pn50B 0 allocate N OT Incorrect servomotor stop method selection Check the settings for parameters Pn001 0 and Pn001 1 when the ser vomotor power is OFF Check the settings for parameters Pn001 0 and Pn001 1 when in torque control Select a servomotor stop method other than coast to stop Select a servomotor stop method other than coast to stop Improper Stop Po sition by Overtrav el OT Signal Improper limit switch position and dog length Install the limit switch at the appropriate position The overtravel limit switch position is too short for the coasting distance Install the overtravel limit switch at the appropriate position 9 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor cont d Problem Probable Cause Position Error Without Alarm Noise interference due to incorrect encoder cable specifications Noise interference due to length of encoder cable Noise influence due to damaged encoder cable Excessive noise to encoder cable The FG potential varies because of influence from machines on the ser vomotor side such as the welder SERVOP
8. Set the power supply voltage within the specified range Insufficient external regenerative resistance regenerative resistor capacity or SERVOPACK capac ity Or regenerative power has been continuously flowing back Check the operating condition or the capacity using the capacity selection Software SigmaJunma Size etc Change the regenerative resistance regenerative resistor capacity or SERVOPACK capacity Reconsider the operating conditions using the capacity selection software Sigma JunmaSize etc Regenerative power continu ously flowed back because nega tive load was continuously applied Check the load applied to the servo motor during operation Reconsider the system including servo machine and operating con ditions The setting of parameter Pn600 is smaller than the external regener ative resistor s capacity Check the external regenerative resistor connection and the value of the Pn600 Set the Pn600 to a correct value The external regenerative resis tance is too high Check the regenerative resistance Change the regenerative resistance to a correct value or use an external regenerative resistor of appropriate capacity A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK 9 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 33
9. The surrounding air temperature Check the surrounding air tempera MURAL pen O i too fighi ture usme a thermostat PACK installation conditions The overload alarm has been Check the alarm history display reset by turning OFF the power Fn000 to see if the overload alarm Mrd the method Tor resetting the too many times was reported i A 7AO Check the accumulated load ratio Heat Sink Overheated Excessive load or operation Un009 to see the load during oper Detected when the heat sink temperature exceeds 100 C beyond the regenerative energy processing capacity ation and the regenerative load ratio Un00A to see the regenera tive energy processing capacity Reconsider the load and operating conditions Incorrect SERVOPACK installa tion orientation or and insuffi cient space around the SERVOPACK Check the SERVOPACK installa tion conditions Install the SERVOPACK correctly as specified A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 7 AB Built in Fan in SER VOPACK Stopped The fan inside the SERVOPACK stopped Check for foreign matter or debris inside the SERVOPACK Remove foreign matter or debris from the SERVOPACK Ifthe alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK Troubleshooting 9 13 9 14 9 Troubleshooting 9 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alar
10. capacities Select the proper combination of SERVOPACK and servomotor other capacities _ The SERVOPACK may be faulty A SERVOPACK fault occurred Replace the SERVOPACK The parameter setting is out of the setting range Check the setting ranges of the parameters that have been changed Set the parameter to a value within the setting range The electronic gear ratio is out of the setting range Check the electronic gear ratio The ratio must satisfy 0 001 lt Pn20E Pn210 lt 4000 a Troubleshooting Set the electronic gear ratio in the range 0 001 Pn20E Pn210 4000 9 7 9 8 9 Troubleshooting 9 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 041 Encoder Output Pulse Setting Error The encoder output pulse Pn212 is out of the setting range and does not satisfy the setting condi tions Check the parameter Pn212 Set Pn212 to a correct value A 042 1 Parameter Combina tion Error The speed of program JOG oper ation Fn004 is lower than the setting range after having changed the electronic gear ratio Pn20E Pn210 or the servomo tor Check if the detection conditions are satisfied Decrease the setting of the elec tronic gear ratio Pn20E Pn210 The speed of program JOG oper ation Fn004 is lower than the setting range after hav
11. circuit cables Check for short circuits across the servomotor terminal phases U V and W or between the grounding and servomotor terminal phases U V or W Refer to 3 7 Main Circuit Wiring The cable may be short circuited Replace the cable Short circuit or ground fault inside the servomotor Check for short circuits across the servomotor terminal phases U V and W or between the grounding and servomotor terminal phases U V or W Refer to 3 7 Main Circuit Wiring The servomotor may be faulty Replace the servomotor Short circuit or ground fault inside the SERVOPACK Check for short circuits across the servomotor connection terminals U V and W on the SERVOPACK or between the grounding and terminal U V or W Refer to 3 7 Main Cir cuit Wiring The SERVOPACK may be faulty Replace the SERVOPACK Incorrect wiring or contact fault of the regenerative resistor Check the wiring Refer to 3 7 Con necting Regenerative Resistors Correct the wiring The dynamic brake DB Emer gency stop executed from the SERVOPACK was frequently activated or the DB overload alarm occurred Check the power consumed by DB resistance Un00B to see how many times the DB has been used Or check the alarm history display Fn000 to see if the DB overload alarm A 730 or A 731 was reported Change the SERVOPACK model operating conditions or the mecha nism so that the DB does not need to be used so
12. condition Turn the power supply OFF and then A SERVOPACK fault ON again If the alarm still occurs the occurred SERVOPACK may be faulty Replace the SERVOPACK A901 When the servomotor Position Error Overflow Alarm power is ON the posi tion error exceeded the parameter setting Set an appropriate value for the exces sive position error warning level at servo ON Pn528 ator ON Pn526xPn528 100 Incorrect wiring or con tact fault of servomotor Check the wiring Confirm that the servomotor and encoder are correctly wired and encoder Operation beyond the Check the motor ovetload characteris Reconsider the load conditions and overload protection WobantLcsesured ain command operating conditions Or increase the A 910 characteristics i motor capacity Overload Warning before Excessive load was alarm A 710 or applied during opera A 720 occurs tion because the servo Check the executed operation refer Remove the mechanical problems motor was not driven ence and motor speed due to mechanical prob lems A SERVOPACK fault The SERVOPACK may be faulty occurred Replace the SERVOPACK Abnormal vibration was Check for abnormal noise from the Reduce the motor speed or reduce the detected at the motor servomotor and check the speed and servo gain by using the function such speed torque waveforms during operation as one parameter tuning A 91 1 The moment of inertia Vibration ra
13. error occurred when using a MECHA f eee eout TROLINK command Gra AVailable Main Circuit Cable Open With the main power supply ON voltage was low for a cun Phase more than 1 second in phase R S or T ee Available FL 1 N A System Alarm Internal program error occurred in the SERVOPACK FL 23 N A 2 These alarms occur in SERVOPACKs with safety modules For details refer to 2 V Series User s Manual Safety Module No SIEP C720829 06 3 These alarms are not stored in the alarm history and are displayed only in the panel display Troubleshooting 9 5 9 6 9 Troubleshooting 9 1 1 List of Alarms cont d Servo motor Alarm Alarm NUR Alarm Name Meaning Stop SEE ping Method CPFO0 Digital Operator Transmis 7 gt N A sion Error 1 Digital operator JUSP OP05A 1 E fails to communi iai is cate with the SERVOPACK e g CPU error CPF01 Digital Operator Transmis e g N A sion Error 2 A Not an error Normal operation status 9 1 2 Troubleshooting of Alarms 9 1 Alarm Displays If an error occurs in servo drives an alarm display such as A LILILI and CPFOO will appear on the panel dis play Refer to the following table to identify the cause of an alarm and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described corrective action Alarm Number Alarm Name Alarm Description Cause Inv
14. fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 830 Absolute Encoder Bat tery Error The absolute encoder battery voltage is lower than the specified value The battery connection is incor rect Check the battery connection Reconnect the battery The battery voltage is lower than the specified value 2 7 V Measure the battery voltage Replace the battery A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 840 Encoder Data Error Detected on the encoder side An encoder malfunctioned Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor Malfunction of encoder because of noise interference etc Correct the wiring around the encoder by separating the encoder cable from the servomotor main cir cuit cable or by checking the grounding and other wiring A 850 Encoder Overspeed Detected when the con trol power supply was turned ON Detected on the encoder side The servomotor speed is higher than 200 min when the control power supply was turned ON Check the motor rotating speed Un000 to confirm the servomotor speed when the power is turned ON Reduce the servomotor speed to a value less than 200 min and turn ON the control power supply An encoder fault occurred Turn the power supply OFF and then ON again If
15. occurred The SERVOPACK may be faulty Replace the SERVOPACK A 450 Main Circuit Capacitor Overvoltage A 510 Overspeed The servomotor speed exceeds the maximum A SERVOPACK fault occurred The order of phases U V and W in the servomotor wiring is incor rect Check the motor wiring Replace the SERVOPACK Confirm that the servomotor is cor rectly wired A reference value exceeding the overspeed detection level was input Check the input value Reduce the reference value or adjust the gain The motor speed exceeded the maximum Check the motor speed waveform Reduce the speed reference input gain adjust the servo gain or recon sider the operating conditions A SERVOPACK fault occurred The SERVOPACK may be faulty A 511 Overspeed of Encoder Output Pulse Rate Replace the SERVOPACK The encoder output pulse fre Check the encoder output pulse set Decrease the setting of the encoder quency exceeded the limit ting output pulse Pn212 The encoder output pulse output frequency exceeded the limit because the motor speed was too high Check the encoder output pulse out put setting and motor speed Decrease the motor speed A 520 Vibration Alarm Abnormal vibration was detected at the motor speed Check for abnormal noise from the servomotor and check the speed and torque waveforms during oper ation Reduce the motor speed or reduce the sp
16. the SERVOPACK may be faulty Replace the SERVOPACK A b33 Current Detection Er ror 3 The detection circuit for the cur rent is faulty Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK The servomotor main circuit cable is disconnected Check for disconnection of the ser vomotor main circuit cable Correct the servomotor wiring Troubleshooting A b6A MECHATROLINK Communications ASIC Error 1 SERVOPACK MECHA TROLINK communication sec tion fault Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK 9 15 9 16 9 Troubleshooting 9 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Cause Investigative Actions Corrective Actions Alarm Description Take measures against noise Check MECHATROLINK data recep the MECHATROLINK communi A b6b MECHATROLINK Communications ASIC Error 2 tion error occurred due to noise interference cations cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK communications cable SERVOPACK MECHA TROLINK communication sec tion fault Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bFO System Alarm 0 A SERVOPACK fault occurred Turn the power sup
17. the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK 9 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 860 Encoder Overheated Only when an absolute encoder is connected Detected on the encoder side The ambient operating tempera ture around the servomotor is too high Measure the ambient operating tem perature around the servomotor The ambient operating temperature must be 40 C or less The motor load is greater than the rated load Check the accumulated load ratio Un009 to see the load The motor load must be within the specified range An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 8A0 External Encoder Er ror Setting the zero point position of external absolute encoder failed because the servomotor rotated Before setting the zero point posi tion use the fully closed feedback pulse counter UnOOE to confirm that the servomoto
18. the host controller is exe cuting data parity checks Execute a multiturn data parity check a Troubleshooting Check noise in the cable between the SERVOPACK and the host con troller Take measures against noise and again execute a multiturn data par ity check 9 31 9 32 9 Troubleshooting cont d Problem Probable Cause Investigative Actions Corrective Actions Overtravel OT Forward or reverse run prohibited signal is input Check the external power supply 24 V voltage for the input signal Correct the external power supply 24 V voltage Check if the overtravel limit switch operates properly Correct the overtravel limit switch Check if the overtravel limit switch is wired correctly Correct the overtravel limit switch wiring Check the settings for parameters Pn50A and Pn50B Correct the settings for parameters Pn50A and Pn50B Forward or reverse run prohibited signal malfunctioning Check the fluctuation of the exter nal power supply 24 V voltage for the input signal Stabilize the external power supply 24 V voltage Check if the overtravel limit switch operates correctly Correct the overtravel limit switch Check if the overtravel limit switch wiring is correct check for dam aged cables or loose screws Correct the overtravel limit switch wiring Incorrect forward or reverse run prohibited signal
19. the motor capacity Excessive load was applied dur ing operation because the servo motor was not driven due to mechanical problems Check the executed operation refer ence and motor speed Remove the mechanical problems A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 730 A 731 Dynamic Brake Over load An excessive power consumption of dynamic brake was detected The servomotor rotates because of external force Check the operation status Take measures to ensure the servo motor will not rotate because of external force The rotating energy at a DB stop exceeds the DB resistance capac ity Check the power consumed by DB resistance Un00B to see how many times the DB has been used Reconsider the following Reduce the motor reference speed Reduce the moment of inertia ratio Reduce the number of times of the DB stop operation A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 740 Overload of Surge Current Limit Resistor The main circuit power The inrush current limit resistor operation frequency at the main circuit power supply ON OFF operation exceeds the allowable range Reduce the frequency of turning the main circuit power supply ON OFF is turned ON OFF too The SERVOPACK may be faulty fi tly y requently A SERVOPACK fault occurred Replace the SERVOPACK
20. the motor speed waveform Reduce the load so that the moment of inertia ratio becomes within the allowable value or increase the load level or lower the tuning level for the tuning less levels setting Fn200 Check if there are any loose mount Tighten the mounting screws ing screws Check if there is misalignment of Align the couplings couplings Check if there are unbalanced cou 5 Balance the couplings plings Check for noise and vibration Replace the servomotor around the bearings Check for any foreign matter dam age or deformations on the machin ery s movable parts The I O signal cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm min Check the length of the I O signal cable The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted 2 pair cable with a core of 0 12 mm min Check the length of the encoder cable Check if the encoder cable is bent and the sheath is damaged Check if the encoder cable is bun dled with a high current line or near a high current line Check if the machines are correctly Check if there is noise interference on the I O signal line from the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Contact the machine manufact
21. to 9 3 Monitoring Communica Data Setting tion Data on Occurrence of an Alarm s Warning 3 Calculation result of set or Warning to determine which Set the value of the parameter within Calculation Er ror value is incorrect command was the cause of the warning Troubleshooting the allowable range A 94D Data Setting Warning 4 Parameter Size Parameter size set in command is incorrect Refer to 9 3 Monitoring Communica tion Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning Use the correct parameter size 9 25 9 26 9 Troubleshooting 9 2 2 Troubleshooting of Warnings cont d Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description A 94E Refer to 9 3 Monitoring Communica Change the setting value of Pn850 or Data Setting Dolmode noris tion Data on Occurrence of an Alarm the LT MOD data for the Warning 5 detected or Warning to determine which LTMOD_ON command sent by the Latch mode command was the cause of the host controller to the proper value error warning A 95A Refer to 9 3 Monitoring Communica raid Command sending con ee E Send a command after command 09a dition is not satisfied d sending condition is satisfied Unsatisfying command was the cause of the Command warning A 95B Refer to 9 3 Monitoring Communica Command tion Data on Occurrence of an Alarm Wa
22. 0 Main Circuit Power Supply Wiring Error Detected when the power to the main circuit is turned ON The regenerative resistor discon nected when the SERVOPACK power supply voltage was high Measure the resistance of the regen erative resistor using a measuring instrument When using a regenerative resistor built in the SERVOPACK Replace the SERVOPACK When using an external regenera tive resistor Replace the external regenerative resistor In the AC power input mode DC power was supplied Check the power supply to see if it is a DC power supply Correct the settings to match the actual power supply specifications In the DC power input mode AC power was supplied Check the power supply to see if it is an AC power supply Correct the settings to match the actual power supply specifications Regenerative resistor capacity Pn600 is set to a value other than 0 for a SGDV R70 R90 1R6 2R1 or 2R8 SERVO PACK and an external regenera tive resistor is not connected Check the external regenerative resistor connection and the value of the Pn600 Connect the external regenerative resistor or set Pn600 to 0 if no regenerative resistor is required The jumper between the power supply terminals B2 and B3 is removed for the SERVOPACKs other than the SERVOPACKs shown above Confirm that a jumper is mounted between the power supply terminals B2 and B3 Correctly mount a jumpe
23. 9 Troubleshooting 91 Alarm DISplayS MEM ER 9 2 9 1 1 List of Alarms 22e dee ee ee oet E eed be ete eel gat rus 9 2 9 1 2 Troubleshooting of Alarms 0 0 teeta 9 7 9 2 Warning Displays occlu ato acum ea dX icm a gra ni CR a o C a e 9 23 9 2 1 List of Warnings elder eee pe dee Ree te xe a Red Ree 9 23 9 2 2 Troubleshooting of Warnings ssseeleee I 9 24 9 3 Monitoring Communication Data on Occurrence of an Alarm uu cu cM P m 9 28 9 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 0 00000 e eee eee 9 29 a Troubleshooting 9 2 9 Troubleshooting 9 1 1 List of Alarms 9 1 9 1 1 Alarm Displays The following sections describe troubleshooting in response to alarm displays The alarm name alarm meaning alarm stopping method and alarm reset capability are listed in order of the alarm numbers in 9 List of Alarms The causes of alarms and troubleshooting methods are provided in 9 7 2 Troubleshooting of Alarms List of Alarms This section provides list of alarms Servomotor Stopping Method If an alarm occurs the servomotor can be stopped by doing either of the following operations Gr 1 The servomotor is stopped according to the setting in Pn001 0 if an alarm occurs Pn001 0 is factory set to stop the servomotor by applying the DB Gr 2 The servomotor is stopped according to the setting in PnOOB 1 if an alarm occurs PnOOB 1 is factory set to
24. ACK pulse count error due to noise Excessive vibration and shock to the encoder Unsecured coupling between machine and servomotor Noise interference due to improper I O signal cable specifications Noise interference due to length of I O signal cable An encoder fault occurred The pulse count does not change Investigative Actions The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mn min Check the length of the encoder cable Check if the encoder cable is bent and the sheath is damaged Check if the encoder cable is bun dled with a high current line or near a high current line Check if the machines are correctly Check if the I O signal line from the encoder is influenced by noise Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Check if a position error occurs at the coupling between machine and servomotor The I O signal cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mn min Check the I O signal cable length A SERVOPACK fault occurred Servomotor Over heated Ambient operating temperature too high Servomotor surface dirty Servomotor overloaded Measure the servomotor ambient operating t
25. An encoder fault occurred Replace the servomotor and see if the alarm occurs again Replace the servomotor encoder A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 051 Unsupported Device Alarm An unsupported serial converter unit encoder or external encoder is connected to the SERVO PACK Check the product specifications and select the correct model Select the correct combination of units A 0b0 Cancelled Servo ON Command Alarm After executing the utility func tion to turn ON the power to the motor the servo ON command SV_ON was sent from the host controller Turn the SERVOPACK power sup ply OFF and then ON again or exe cute a software reset 1 Detection conditions If one of the following conditions detected an alarm occurs e Pn533 min x e Max Motor Speed min x Encoder resolution 2 Pn20E 6 x 10 Pn210 Encoder resolution _ Pn20E About 3 66 x10 Pn210 9 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 100 Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT or heat sink of SERVO PACK overheated Incorrect wiring or contact fault of main circuit cables Check the wiring Refer to 3 7 Main Circuit Wiring Correct the wiring Short circuit or ground fault of main
26. Check the operating environment Reduce the machine vibration or were applied to the encoder P 8 correctly install the servomotor Turn the power supply OFF and An encoder lt od shen _ then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor Turn the power supply OFF and then ON again If the alarm still A SERVOPACK fault occurred occurs the SERVOPACK may be faulty Replace the SERVOPACK When using a direct drive DD servomotor the multiturn limit Correct the setting of Pn205 0 to value Pn205 is different from Chee valust the Pazos 65535 that of the encoder The multiturn limit value of the NOGO PAPE encoder is ditforent trom thar p Check the value of the Pn205 ofthe Execute Fn013 at the occurrence of Multiturn Limit Dis the SERVOPACK Or the multi SERVOPACK alat agreement turn limit value of the SERVO PACK has been changed Turn the power supply OFF and then ON again If the alarm still A SERVOPACK fault occurred occurs the SERVOPACK may be faulty Replace the SERVOPACK Wiring of cable between serial converter unit and SERVOPACK Check the external encoder wiring Correct the cable wiring is incorrect or contact is faulty gt The specified cable is not used A CF1 between serial converter unit and Contr the external encoder yir Use the specified cable Feedback Option SERVOPACK ing specifications Module Communica tions Error Cable between serial
27. FF several times If the alarm still occurs the SERVOPACK may be faulty Check Fn012 to see if the set soft ware version agrees with that of the SERVOPACK If not an alarm may occur The SERVOPACK may be faulty Replace the SERVOPACK Write the parameter of another SERVOPACK of the same model with the same software version Then turn the power OFF and then The parameter data in ON again the SERVOPACK is The SERVOPACK may be faulty t incorrect A SERVOPACK fault occurred Replace the SERVOPACK The power supply voltage sud The SERVOPACK may be faulty A022 denly dropped Measure the power supply voltage Replace the SERVOPACK System Checksum Er The power supply went OFF Check the circumstances when the The SERVOPACK may be faulty ror 1 while setting an utility function power supply went OFF Replace the SERVOPACK The parameter data in the SERVOPACK is incorrect A SERVOPACK fault occurred Turn the power supply ON and OFF several times If the alarm still occurs the SERVOPACK may be faulty The SERVOPACK may be faulty Replace the SERVOPACK A 030 Main Circuit Detector Error A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 040 Parameter Setting Er ror 1 The parameter setting was out of the setting range The SERVOPACK and servomo tor capacities do not match each Check the combination of SERVO PACK and servomotor
28. K Dynamic Brake Does Not Operate Improper Pn001 0 setting Check the setting for parameter Pn001 0 Correct the setting for parameter Pn001 0 DB resistor disconnected Check if excessive moment of iner tia motor overspeed or DB fre quently activated occurred Replace the SERVOPACK and reduce the load DB drive circuit fault There is a defective component in the DB circuit Replace the SER VOPACK Troubleshooting 9 29 9 30 9 Troubleshooting cont d Problem Probable Cause Investigative Actions Corrective Actions Abnormal Noise from Servomotor The servomotor largely vibrated during execution of tuning less function Mounting is not secured Bearings are defective Vibration source at the driven machine Noise interference due to incorrect 1 O signal cable specifications Noise interference due to length of 1 O signal cable Noise interference due to incorrect cable specifications of encoder cable Noise interference due to length of encoder cable Noise interference due to damaged encoder cable Excessive noise to the encoder cable The FG potential varies because of influence from machines on the ser vomotor side such as the welder SERVOPACK pulse counting error due to noise interference Excessive vibration and shock to the encoder An encoder fault occurred Check
29. Reception from the Feedback Option Module is faulty Gr N A Reception error Feedback Option Module T 1 A CF2 Communications Error A r with the Feedback Option Grl N A Timer stop Ops auty Position error exceeded the value of excessive position A d00 Position Error Overflow error alarm level Pn520 when the servomotor power Gr 1 Available is ON i This alarm occurs if the servomotor power is turned A d01 Position Error Overflow ON when the position error is greater than the set Gr 1 Available Alarm at Servo ON value of Pn526 while the servomotor power is OFF 1 These alarms occur in SERVOPACKs with command option modules For details refer to the manual for the command option module that is connected 9 1 Alarm Displays cont d Servo motor Alarm Alarm Number Alarm Name Meaning Stop ROSSI ping Method When the position errors remain in the error counter zn Pn529 limits the speed if the servomotor power is Position Error Overflow ec A A d02 Alarm by Speed Limit at ed ON If Pn529 limits the speed in such a state 5 Available Servo ON this alarm occurs when position references are input and the number of position errors exceeds the value set for the excessive position error alarm level Pn520 Motor load Position Error During fully closed loop control the position error pid Overflow between motor and load
30. S NA A 510 Overspeed The servomotor speed is above the maximum rota Grl vailable tional speed Overspeed of Encoder The pulse output speed upper limit of the set encoder ASN Output Pulse Rate output pulse Pn212 is exceeded Gr Available A 520 Vibration Alarm Incorrect vibration at the motor speed was detected Gr 1 Available A521 Autotuning Alarm Vibration was detected while performing tuning less Grl Available function The servomotor was operating for several seconds to A 710 Overload High Load several tens of seconds under a torque largely exceed Gr 2 Available ing ratings A 720 Overload Low Load The servomotor was operating continuously under a Grl Available torque exceeding ratings A 730 When the dynamic brake was applied rotational A73 1 Dynamic Brake Overload energy exceeded the capacity of dynamic brake resis Gr 1 Available i tor Overload of Surge The main circuit power was frequently turned ON and ox Current Limit Resistor OFF em Available A 7A0 Heat Sink Overheated The heat sink of the SERVOPACK exceeded 100 C Gr 2 Available Built in Fan in TE A 7AB SERVOPACK Stopped The fan inside the SERVOPACK stopped Gr 1 Available A810 Encoder Backup Error The power supplies to the encoder all failed and posi Gri N A tion data was lost A 820 Encoder Checksum Error The checksum results of encoder memory is incorrect Gr 1 N A Absolute Encoder Battery The battery voltage was lower than the specified value a Erro
31. c tion Based on Operation and Condi tions of the Servomotor Even if overtravel signals were not shown by the input signal monitor Un005 momentary overtravel may have been detected Take the following precau tions Do not specify movements that would cause overtravel from the host controller Check the wiring of the overtravel signals Take countermeasures for noise Troubleshooting 9 27 9 28 9 Troubleshooting 9 3 Monitoring Communication Data on Occurrence of an Alarm or Warning The command data received on occurrence of an alarm or warning such as a data setting warning A 94D or a command warning A 95LT can be monitored using the following parameters The following is an example of the data when an alarm warning has occurred in the normal state Command Data Monitor at Alarm Warning Occurrence Pn890 to Pn89E Response Data Monitor at Alarm Warning Occurrence Pn8A0 to Pn8AE Command Data Storage at Command Alarm Warning Occurrence Byte Order CMD RSP Example Pn8A0 87 65 43 21 1 Pn890 1to 0 Pn8A0 1 to 0 EEEF 2 Pn890 3 to 2 Pn8A0 3 to 2 3 Pn890 5 to 4 Pn8A0 5 to 4 4 Pn890 7 to 6 Pn8A0 7 to 6 5 to 8 Pn892 Pn8A2 9 to 12 Pn894 Pn8A4 13 to 16 Pn896 Pn8A6 17 to 20 Pn898 Pn8AS8 21 to 24 Pn89A Pn8AA 25 to 28 Pn89C Pn8AC 29 to 32 Pn89E Pn8AE Note 1 Data is stored in little endian byte order and displayed in the hexadecimal format
32. converter Reception error unit and SERVOPACK is too long Measure the length of this cable Use 20 m cable max Sheath of cable between serial converter unit and SERVOPACK is broken Check the cable for damage Replace the cable A CF2 Feedback Option Module Communica tions Error Timer stop Noise interferes with the cable between serial converter unit and SERVOPACK Correct the wiring around serial converter unit e g separating I O signal line from main circuit cable or grounding A serial converter unit fault occurred Replace the serial converter unit A SERVOPACK fault occurred Replace the SERVOPACK 9 18 9 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A d00 Position Error Over flow Position error exceeded the value set in the excessive position error The servomotor U V and W wir ings is faulty Check the servomotor main circuit cable connection Confirm that there is no contact fault in the motor wiring or encoder wiring The position reference speed is too high Reduce the reference speed and operate the SERVOPACK Reduce the position reference speed or acceleration of position refer ence Or reconsider the electronic gear ratio The acceleration of the position reference is too high Reduce the reference acceleration an
33. curred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CAO Encoder Parameter Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Troubleshooting 9 17 9 Troubleshooting 9 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions The wiring and contact for encoder cable are incorrect Check the wiring Correct the wiring Noise interference occurred due to incorrect cable specifications of encoder cable Noise interference occurred because the wiring distance for the encoder cable is too long Use tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of at least 0 12 mm The wiring distance must be 50 m max The FG potential varies because A Cb0 of influence from machines on Check the cable layout for encoder Properly ground the machines to Encoder Echoback Er the servomotor side such as the cable separate from encoder FG ror welder Excessive vibration and shocks
34. d operate the SERVOPACK Reduce the reference acceleration of the position reference using a MECHATROLINK command or smooth the acceleration of the posi tion reference by selecting the posi tion reference filter ACCFIL using a MECHATROLINK com alarm level Pn520 mand Setting of the excessive position Check the alarm level Pn520 to error alarm level Pn520 is low see if it is set to an appropriate Set the Pn520 to proper value against the operating condition value Turn the power supply OFF and then ON again If the alarm still A SERVOPACK fault occurred occurs the SERVOPACK may be faulty Replace the SERVOPACK A d01 This alarm occurs if the servomo Position Error Over flow Alarm at Servo ON tor power is turned ON when the position error is greater than the set value of Pn526 while the ser vomotor power is OFF Check the position error amount Un008 while the servomotor power is OFF Correct the excessive position error alarm level at servo ON Pn526 A d02 Position Error Over flow Alarm by Speed Limit at Servo ON When the position errors remain in the error counter Pn529 limits the speed if the servomotor power is ON If Pn529 limits the speed in such a state this alarm occurs when position references are input and the number of position errors exceeds the value set for the excessive position error alarm level Pn520 Correct the excessive position error alarm le
35. eed loop gain Pn100 The moment of inertia ratio Pn103 value is greater than the actual value or is greatly changed Check the moment of inertia ratio Set the moment of inertia ratio Pn103 to an appropriate value A 521 Autotuning Alarm Vibration was detected while executing the one parameter tuning Easy FFT or tuning less func tion The servomotor vibrated consid erably while performing tuning less function Check the motor speed waveform Reduce the load so that the moment of inertia ratio falls within the allowable value or raise the load level using the tuning less levels setting Fn200 or reduce the rigid ity level The servomotor vibrated consid erably during one parameter tun ing or EasyFFT Check the motor speed waveform Check the operation procedure of corresponding function and take a corrective action 9 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 710 A 720 Overload A 710 High Load A 720 Low Load Incorrect wiring or contact fault of servomotor and encoder Check the wiring Confirm that the servomotor and encoder are correctly wired Operation beyond the overload protection characteristics Check the servomotor overload characteristics and executed run command Reconsider the load conditions and operating conditions Or increase
36. emperature Visually check the surface Check the load status with monitor Corrective Actions Use the specified encoder cable The encoder cable must be no more than 50 m Replace the encoder cable and mod ify the cable layout Change the cable layout so that no surge is applied Properly ground the machines encoder FG Take measures against noise in the encoder wiring Reduce the machine vibration or mount the servomotor securely Secure the coupling between the machine and servomotor Use input signal cable with the specified specifications The I O signal cable length must be no more than 3 m Replace the servomotor Replace the SERVOPACK Reduce the ambient operating tem perature to 40 C or less Clean dust and oil from the surface If overloaded reduce load or replace with larger capacity SER VOPACK and servomotor Troubleshooting 9 33
37. estigative Actions Corrective Actions A 020 Parameter Checksum Error 1 The parameter data in the SERVOPACK is incorrect A 021 Parameter Format Er ror 1 The power supply voltage sud denly dropped Measure the power supply voltage Set the power supply voltage within the specified range and set Fn005 to initialize the parameter The power supply went OFF while changing a parameter set ting Check the circumstances when the power supply went OFF Set Fn005 to initialize the parameter and then set the parameter again The number of times that parame ters were written exceeded the limit Check to see if the parameters were frequently changed through the host controller The SERVOPACK may be faulty Replace the SERVOPACK Reconsider the method of writing parameters Malfunction caused by noise from the AC power supply or grounding line static electricity noise etc Turn the power supply ON and OFF several times If the alarm still occurs there may be noise interfer ence Take countermeasures against noise Gas water drops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SERVOPACK A SERVOPACK fault occurred The software version of SERVO PACK that caused the alarm is older than that of the written parameter Turn the power supply ON and O
38. frequently The generated regenerative resis tor value exceeded the SERVO PACK regenerative energy processing capacity Check the regenerative load ratio Un00A to see how many times the regenerative resistor has been used Check the operating condition including overload and reconsider the regenerative resistor value The SERVOPACK regenerative resistance is too small Check the regenerative load ratio Un00A to see how many times the regenerative resistor has been used Change the regenerative resistance value to a value larger than the SERVOPACK minimum allowable resistance value A heavy load was applied while the servomotor was stopped or running at a low speed Check to see if the operating condi tions are outside servo drive specifi cations Reduce the load applied to the ser vomotor or increase the operating speed Malfunction caused by noise interference Improve the wiring or installation environment such as by reducing noise and check to see if the alarm recurs Take countermeasures for noise such as correct wiring of the FG Use an FG wire size equivalent to the SERVOPACK main circuit wire size A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Troubleshooting 9 9 9 10 9 Troubleshooting 9 1 2 Troubleshooting of Alarms cont d Alarm
39. hase power is input without setting PnOOB 2 power supply method for three phase SERVOPACK to 1 single phase power supply Check the power supply and the parameter setting Match the parameter setting to the power supply A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK FL 17 System Alarm FL 2 System Alarm SERVOPACK failure Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK CPFOO Digital Operator Transmission Error 1 The contact between the digital operator and the SERVOPACK is faulty Check the connector contact Insert securely the connector or replace the cable Malfunction caused by noise interference Keep the digital operator or the cable away from noise sources CPF01 Digital Operator Transmission Error 2 A digital operator fault occurred Disconnect the digital operator and then re connect it If the alarm still occurs the digital operator may be faulty Replace the digital operator A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK 2 These alarms are not stored in the alarm history and are displayed only in the panel display 9 2 9 2 1 9 2 Warning D
40. he moment of inertia ratio Pn103 High Motor Speed Overshoot on Starting and Stop ping Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Execute the advanced autotuning Speed loop gain value Pn100 too high Check the speed loop gain Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 Position loop gain value Pn102 too high Check the position loop gain Pn102 Factory setting Kp 40 0 s Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant Pn101 Incorrect moment of inertia ratio data Pn103 Absolute Encod er Position Differ ence Error The position saved in the host controller when the power was turned OFF is different from the position when the power was next turned ON Noise interference due to incorrect cable specifications of encoder cable Noise interference due to length of encoder cable Noise interference due to damaged encoder cable Excessive noise to the encoder cable FG potential varies because of influence of machines such as weld ers at the servomotor SERVOPACK pulse counting error due to noise interference Excessive vibration and shock to the encoder An encoder fault occurred
41. ing changed the setting of the pro gram JOG movement speed Pn533 Check if the detection conditions are satisfied Increase the setting of the program JOG movement speed Pn533 The moving speed of advanced autotuning is lower than the set ting range after having changed the electronic gear ratio Pn20E Pn210 or the servomotor Check if the detection conditions are satisfied 1 Decrease the setting of the elec tronic gear ratio Pn20E Pn210 A 044 Semi closed Fully closed Loop Control Parameter Setting Er ror The setting of the fully closed module does not match with that of Pn002 3 Check the settings of Pn002 3 The setting of fully closed module must be compatible with the setting of Pn002 3 A 04A Parameter Setting Er ror 2 For a 4 byte parameter bank no registration in two consecutive bytes for two bank members Change the number of bytes for bank members to an appropriate value The total amount of bank data exceeds 64 Pn900 x Pn901 gt 64 Reduce the total amount of bank data to 64 or less A 050 Combination Error The SERVOPACK and servomotor capacities do not correspond The SERVOPACK and servomo tor capacities do not match each other Check the capacities to see if they satisfy the following condition 1 Servomotor capacity 4 SERVOPACK capacity Select the proper combination of SERVOPACK and servomotor capacities
42. ion module and Pn0OB 3 Gri N A Pn002 3 do not match Setting Error A 04A Parameter Setting Error 2 Bank member bank data setting is incorrect Gr 1 N A A 050 Combination Error The SERVOPACK and the servomotor capacities do Grl Available not match each other Unsupported Device A 051 Alan The device unsupported was connected Gr 1 N A Cancelled Servo ON The servo ON command SV_ON was sent from the i A 0b0 host controller after executing a utility function that Gr 1 Available Command Alarm turns ON servomotor A 100 Overcurrent or Heat Sink An overcurrent flowed through the IGBT or the heat Ga N A Overheated sink of the SERVOPACK was overheated 9 1 Alarm Displays cont d Servo motor Alarm Alarm Number Alarm Name Meaning Stop Racal ping Method A 300 Regeneration Error Regenerative circuit or regenerative resistor is faulty Gr 1 Available A320 Regenerative Overload Regenerative energy exceeds regenerative resistor Gr2 Available capacity Main Circuit Power Setting of AC input DC input is incorrect A 330 Supply Wiring Error Power supply wiring is incorrect M A 400 Overvoltage Main circuit DC voltage is excessively high Gr 1 Available A 410 Undervoltage Main circuit DC voltage is excessively low Gr 2 Available Main Circuit The capacitor of the main circuit has deteriorated or is 2 Capacitor Overvoltage faulty R
43. ions Corrective Actions A Eb1 Safety Function Signal Input Timing Error The lag between activations of the input signals HWBB1 and HWBB2 for the HWBB function is ten second or more Measure the time lag between the HWBBI and HWBBZ2 signals The output signal circuits or devices for HWBB1 and HWBB2 or the SERVOPACK input signal circuits may be faulty Alternatively the input signal cables may be disconnected Check if any of these items are faulty or have been disconnected A Ed1 Command Execution Timeout A timeout error occurred when using an MECHATROLINK command Check the motor status when the command is executed Execute the SV ON or SENS ON command only when the motor is not running For fully closed loop control check the status of the external encoder after an output is made to execute the command Execute the SENS ON command only when an external encoder is connected A F10 Main Circuit Cable Open Phase With the main power supply ON voltage was low for more than 1 sec ond in an R S or T phase Detected when the main power supply was turned The three phase power supply wiring is incorrect Check the power supply wiring Confirm that the power supply is correctly wired The three phase power supply is unbalanced Measure the voltage at each phase of the three phase power supply Balance the power supply by chang ing phases A single p
44. is excessive one PIS MECHATROLINK ET Synchronization error during MECHATROLINK A E02 He Synchronization communications with the SERVOPACK Gr 1 Available MECHATROLINK Trans T A E40 mission Cycle Setting Er The Seung orme MPCHAIROLINE een Gr 2 Available tor cycle is out of the allowable range MECHATROLINK Syn A synchronization error occurs during MECHA Al chronization Error TROLINK communications Une E MECHATROLINK Syn A synchronization failure occurs in MECHA E chronization Failed TROLINK communications One S MECHATROEINE Com A communications error occurs continuously during A E60 Pi Error Recep MECHATROLINK communications Gr2 Available MECHATROLINK Trans A E61 mission Cycle Error Syn MOM pude eh iE during MECHA Gr 2 Available chronization interval error 9 wee A E71 edi Prid Module De Detection of the safety option module failed Gr 1 N A A E72 pas E Mogul Detection of the Feedback Option Module failed Gr 1 N A A E74 me aah Safety Op An unsupported safety option module was connected Gr 1 N A Unsupported Feedback An unsupported feedback option module was con cues Option Module nected tona N A SERVOPACK Safety 2 A E81 Module Alarm A EA2 PUB VO A SERVOPACK DRV alarm 0 occurs Gr 2 Available A Eb1 ae ie The safety function signal input timing is faulty Gr 1 N A A EbO SERVOPACK Safety 2 Module Alarms B i A ECO SERVOPACK Safety E E E 8 Module Alarms Command Execution Tim A timeout
45. isplays Warning Displays The following sections describe troubleshooting in response to warning displays The warning name and warning meaning output are listed in order of the warning numbers in 9 2 1 List of Warnings The causes of warnings and troubleshooting methods are provided in 9 2 2 Troubleshooting of Warnings List of Warnings This section provides list of warnings ene Warning Name Meaning x e Position error exceeded the parameter settin 1 p 8 A 900 Position Error Overflow Pn520xPn51E 100 A901 Position Error Overflow When the servomotor power is ON the position error exceeded the parameter i Alarm at Servo ON setting Pn526xPn528 100 A 910 Overload This warning occurs before the overload alarms A 710 or A 720 occur If the warning is ignored and operation continues an overload alarm may occur Abnormal vibration at the motor speed was detected The detection level is A 911 Vibration the same as A 520 Set whether to output an alarm or warning by the vibra tion detection switch Pn310 This warning occurs before the regenerative overload alarm A 320 occurs A 920 Regenerative Overload If the warning is ignored and operation continues a regenerative overload alarm may occur This warning occurs before dynamic brake overload alarm A 731 occurs If A 921 Dynamic Brake Overload the warning is ignored and operation continues a dynamic brake o
46. ission Cycle Error Synchronization interval error MECHATROLINK transmission cycle fluctuated Check the MECHATROLINK transmission cycle setting Remove the cause of transmission cycle fluctuation at host controller A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E71 Safety Option Module Detection Failure The connection between the SERVOPACK and the safety option module is faulty Check the connection between the SERVOPACK and the safety option module Correctly connect the safety option module The safety option module was disconnected Execute Fn014 Resetting configu ration error of option module with using the digital operator or Sig maWin and turn the power supply OFF and then ON again A safety option module fault occurred Replace the safety option module A SERVOPACK fault occurred Replace the SERVOPACK A E72 Feedback Option Module Detection Failure The connection between the SERVOPACK and the Feedback Option Module is Faulty Check the connection between the SERVOPACK and the Feedback Option Module Correctly connect the Feedback Option Module The Feedback Option Module was disconnected Execute resetting configuration error in option modules Fn014 and turn the power supply OFF and then ON again A Feedback Option Module fault
47. ivate or not the warning detection 2 Use Pn800 1 to activate or not the warning detection 3 Use Pn008 1 to activate or not the warning detection 9 23 9 Troubleshooting 9 2 2 Troubleshooting of Warnings 9 2 2 Troubleshooting of Warnings Refer to the following table to identity the cause of a warning and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described corrective action Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description The servomotor U V Check the servomotor main circuit Confirm that there is no contact fault and W wirings is faulty cable connection in the motor wiring or encoder wiring The SERVOPACK gain Check the SERVOPACK gain Increase the servo gain by using the is too low function such as advanced autotuning Reduce the reference acceleration of the position reference using a The acceleration of the MECHATROLINK command or S Reduce the reference acceleration and EE position reference is too operate the SERVOPACK smooth the acceleration ofthe position A 900 high p reference by selecting the position ref Position Error erence filter ACCFIL using a Overflow MECHATROLINK command Setting of the excessive position error alarm level Pn520 is low Cheek the alarm level Pn520 toseg Set the Pn520 to proper value if it is set to an appropriate value against the operating
48. le or by checking the grounding and other wiring A SERVOPACK fault occurred Connect the servomotor to another SERVOPACK and turn ON the control power If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Communica tions Position Data Er ror Noise interference occurred on the I O signal line because the encoder cable is bent and the sheath is damaged Check the encoder cable and con nector Confirm that there is no problem with the cable layout The encoder cable is bundled with a high current line or near a high current line Check the cable layout for encoder cable Confirm that there is no surge volt age on the cable The FG potential varies because of influence from machines on the servomotor side such as the welder Check the cable layout for encoder cable Properly ground the machines to separate from the encoder FG A C92 Encoder Communica tions Timer Error Noise interference occurred on the I O signal line from the encoder Take countermeasures against noise for the encoder wiring Excessive vibration and shocks were applied to the encoder Check the operating environment Reduce the machine vibration or correctly install the servomotor An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault oc
49. m Description Cause Investigative Actions Corrective Actions A 810 Encoder Backup Error Only when an absolute encoder is connected Detected on the encoder side Alarm occurred when the power to the absolute encoder was ini tially turned ON Check to see if the power was turned ON initially Set up the encoder Fn008 The encoder cable disconnected and connected again Check to see if the power was turned ON initially Confirm the connection and set up the encoder Fn008 The power from both the control power supply 5 V from the SERVOPACK and the battery power supply is not being sup plied Check the encoder connector bat tery or the connector contact status Replace the battery or take similar measures to supply power to the encoder and set up the encoder Fn008 An absolute encoder fault occurred If the alarm cannot be reset by set ting up the encoder again replace the servomotor A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 820 Encoder Checksum Error Detected on the encoder side An encoder fault occurred Absolute encoder Set up the encoder again using Fn008 If the alarm still occurs the servomotor may be faulty Replace the servomotor Absolute encoder that shows val ues for a single rotation or incre mental encoder The servomotor may be faulty Replace the servomotor A SERVOPACK
50. mmunications ASIC error occurred in the MECHATROLINK com Grl N A ASIC Error 1 munications MECHATROLINK A b6b Comm nications ASIC error occurred in the MECHATROLINK com Gr2 N A ASIC Error 2 munications A bFO System Alarm 0 Internal program error 0 of the SERVOPACK Grl N A occurred A bF1 System Alarm 1 Internal program error 1 of the SERVOPACK Grl N A occurred A bF2 System Alarm 2 Internal program error 2 of the SERVOPACK Grl N A occurred A bF3 System Alarm 3 Internal program error 3 of the SERVOPACK Grl N A occurred A bF4 System Alarm 4 Internal program error 4 of the SERVOPACK Grl N A occurred A C10 Servo Overrun Detected The servomotor ran out of control Gr 1 Available Absolute Encoder Clear A C80 Error and Multiturn Limit g a absolute encoder was not prop Grl N A Setting Error See eee A c90 Encoder Communications Communications between the SERVOPACK and the Grl N A Error encoder is not possible A C91 E AU SU An encoder position data calculation error occurred Gr 1 N A Encoder Communications An error occurs in the communications timer between A C92 Timer Error the encoder and the SERVOPACK Gr N A A CA0 Encoder Parameter Error Encoder parameters are faulty Gr 1 N A A Cb0 Encoder Echoback Error SR of communications with encoder are incor Grl N A Multiturn Limit Disagree Different multiturn limits have been set in the encoder EE ment and the SERVOPACK on NA Feedback Option Module A CF1 Communications Error
51. moment of inertia ratio exceeded the allowable value Confirm that the moment of inertia ratio is within the allowable range Increase the deceleration time or reduce the load A SERVOPACK fault occurred Turn the control power OFF and then ON again while the main cir cuit power supply is OFF If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK a Troubleshooting 9 11 9 12 9 Troubleshooting 9 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 410 Undervoltage Detected in the SER VOPACK main circuit power supply section For 100 VAC SERVOPACKs The AC power supply voltage is 49 V or less For 200 VAC SERVOPACK s The AC power supply voltage is 120 V or less For 400 VAC SERVOPACK s The AC power supply voltage is 240 V or less Measure the power supply voltage Set the power supply voltage within the specified range The power supply voltage dropped during operation Measure the power supply voltage Increase the power supply capacity Occurrence of instantaneous power interruption Measure the power supply voltage When the instantaneous power cut hold time Pn509 is set decrease the setting The SERVOPACK fuse is blown out Replace the SERVOPACK con nect a reactor and run the SERVO PACK A SERVOPACK fault
52. ng ferrite core interference on the MECHATROLINK communi cations cable A SERVOPACK fault _ A fault occurred in the SERVOPACK occurred Replace the SERVOPACK 9 2 Warning Displays cont d Warning Num ber Warning Name Warning Description Cause Investigative Actions Corrective Actions A 971 Under voltage For 100 VAC SER VOPACKs The AC power supply voltage is 60 V or less For 200 VAC SER VOPACKs The AC power supply voltage is 140 V or less For 400 VAC SER VOPACKs The AC power supply voltage is 280 V or less Measure the power supply voltage Set the power supply voltage within the specified range The power supply volt age dropped during operation Measure the power supply voltage Increase the power supply capacity Occurrence of instanta neous power interrup tion Measure the power supply voltage When the instantaneous power cut hold time Pn509 is set decrease the setting The SERVOPACK fuse is blown out Replace the SERVOPACK and con nect a reactor to the SERVOPACK A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 9A0 Overtrav el Overtravel status is detected When the servomotor power is ON over travel status is detected Check the input signal monitor Un005 to check the status of the overtravel signals Refer to 9 4 Troubleshooting Malfun
53. ply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF 1 System Alarm 1 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF2 System Alarm 2 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF3 System Alarm 3 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF4 System Alarm 4 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C10 Servo Overrun Detect ed Detected when the servomotor power is ON The order of phases U V and W in the servomotor wiring is incor rect Check the motor wiring Confirm that the servomotor is cor rectly wired An encoder fault occurred Ifthe alarm still occurs after turning the power OFF and then ON again even though the servomotor is cor rectly wired the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK
54. r A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 400 Overvoltage Detected in the SER VOPACK main circuit power supply section For 100 VAC SERVOPACK s The AC power supply voltage exceeded 145 V For 200 VAC SERVOPACK s The AC power supply voltage exceeded 290 V For 400 VAC SERVOPACK s The AC power supply voltage exceeded 580 V For 200 VAC SERVOPACKs with DC power supply input The DC power supply voltage exceeded 410 V For 400 VAC SERVOPACKs The DC power supply voltage exceeded 820 V Measure the power supply voltage Set AC DC power supply voltage within the specified range The power supply is unstable or was influenced by a lightning surge Measure the power supply voltage Improve the power supply condi tions by installing a surge absorber etc Then turn the power supply OFF and ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Voltage for AC power supply was too high during acceleration or deceleration Check the power supply voltage and the speed and torque during opera tion Set AC power supply voltage within the specified range The external regenerative resis tance is too high for the actual operating conditions Check the operating conditions and the regenerative resistance Select a regenerative resistance value appropriate for the operating conditions and load The
55. r after the control power supply was turned ON So Available A 840 Encoder Data Error Data in the encoder is incorrect Gr 1 N A A 850 Encoder Overspeed The encoder was rotating at high speed when the Grl N A power was turned ON A 860 Encoder Overheated The internal temperature of encoder is too high Gr 1 N A A 8A0 External Encoder Error External encoder is faulty Gr 1 Available A 8A1 Etomal Encoder En Serial converter unit is faulty Gr 1 Available Module A 8A2 qualis Ericoder Eroriot External encoder is faulty Gr 1 Available ensor A 8A3 Sills Encoder Erroriof The position data of external encoder is faulty Gr 1 Available A 8A5 Pxternal Encoder The overspeed from the external encoder occurred Gr 1 Available Overspeed P A 8A6 Pxternal Ericoder The overheat from the external encoder occurred Gr 1 Available Overheated Troubleshooting 9 3 9 4 9 Troubleshooting 9 1 1 List of Alarms cont d Servo motor Alarm i Alarm Namban Alarm Name Meaning Stop EC ping Method A AOO SERVOPACK Command uH 7 NH eal Option Module Alarms A b31 Current Detection Error 1 The current detection circuit for phase U is faulty Gr N A A b32 Current Detection Error 2 The current detection circuit for phase V is faulty Gr 1 N A A b33 Current Detection Error 3 The detection circuit for the current is faulty Gr N A MECHATROLINK A b6A Co
56. r is not rotating The servomotor must be stopped while setting the zero point posi tion An external encoder fault occurred Replace the external encoder A 8A1 External Encoder ror of Module Er An external encoder fault occurred Replace the external encoder A serial converter unit fault occurred Replace the serial converter unit A 8A2 External Encoder ror of Sensor Incremental Er An external encoder fault occurred Replace the external encoder A 8A3 External Encoder ror of Position Er An external absolute encoder fault occurred The external absolute encoder may be faulty Refer to the encoder man ufacturer s instruction manual for Absolute corrective actions A 8A5 External Encoder The overspeed from the external Check the maximum speed of the Keep the external encoder below its Overspeed encoder occurred external encoder maximum speed ANG The overheat from the external External Encoder code oaa Replace the external encoder Overheated i A b31 Turn the power supply OFF and Current Detection Er ror 1 The current detection circuit for phase U is faulty then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b32 Current Detection Er ror 2 The current detection circuit for phase V is faulty Turn the power supply OFF and then ON again If the alarm still occurs
57. rning 2 Hebron or Warning to determine which Do not sent an unsupported command Non supported PP command was the cause of the Command warning A 95D Command sendinn ook Refer to 9 3 Monitoring Communica Command dition for latch r l d fun Data on Occurrence o an AU Send a command after command Warning 4 P E ee or Warning to determine which Command Inter ference commands is not satis fied command was the cause of the warning sending condition is satisfied A 95E Refer to 9 3 Monitoring Communica Command Subcommand sending tion Data on Occurrence of an Alarm eer des Send a command after command Warning 5 condition is not satis or Warning to determine which sending conditiortds satisfied Subcommand fied command was the cause of the 8 Disable warning A 95F Refer to 9 3 Monitoring Communica Command Warn Undennad command tion Data on Occurrence of an Alarm ing 6 was seni or Warning to determine which Do not use an undefined command Undefined Com command was the cause of the mand warning Correct the MECHATROLINK wir MECHATROLINK Confirm the wiring ing wiring is incorrect Or connect a terminal to the terminal station Take measures against noise Check A 960 MECHATROLINK the MECHATROLINK communica MECHATROLINK data reception error tions cable and FG wiring and take Communications Warning occurred due to noise Confirm the installation conditions measures such as addi
58. stop the servomotor by setting the speed reference to 0 The servomotor under torque control will always use the Gr 1 method to stop By setting PnOOB 1 to 1 the servomotor stops using the same method as Gr 1 When coordinating a number of servomotors use this stopping method to prevent machine damage that may result due to differences in the stop method Alarm Reset Available Removing the cause of alarm and then executing the alarm reset can clear the alarm N A Executing the alarm reset cannot clear the alarm Servo motor Alarm Alarm Number Alarm Name Meaning Stop CE ping Method A 020 Parameter Checksum The data of the parameter in the SERVOPACK is Grl N A Error 1 incorrect A 021 Parameter Format Error 1 The data of the parameter in the SERVOPACK is Grl N A incorrect A 022 System Checksum Error 1 The data of the parameter in the SERVOPACK is Grl N A incorrect A 030 Main Circuit Detector Error Detection data for main circuit is incorrect Gr 1 Available A 040 Parameter Setting Error 1 The parameter setting is outside the setting range Gr 1 N A A041 Encoder Output Pulse The encoder output pulse Pn212 is outside the setting Grl N A Setting Error range or does not satisfy the setting conditions A 042 Parameter Combination Combination of some parameters exceeds the setting Grl N A Error range Semi closed Fully closed A 044 Loop Control Parameter The settings of the opt
59. ta of host controller was not updated correctly Check the WDT data updating for the host controller Update the WDT data at the host controller correctly A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E51 MECHATROLINK Synchronization Failed WDT data of host controller was not updated correctly at the syn chronization communications start and synchronization com munications could not start Check the WDT data updating for the host controller Update the WDT data at the host controller correctly A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E60 MECHATROLINK Communications error Reception error MECHATROLINK wiring is incorrect Check the MECHATROLINK wir ings Correct the MECHATROLINK wir ing Connect the terminator correctly MECHATROLINK data recep tion error occurred due to noise interference A SERVOPACK fault occurred Take measures against noise Check the MECHATROLINK communi cations cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK communications cable Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E61 MECHATROLINK Transm
60. tio Pn103 value is greater than the actual value or is greatly changed Check the moment of inertia ratio Set the moment of inertia ratio Pn103 to an appropriate value 9 24 9 2 Warning Displays cont d Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description The power supply volt xi age exceeds the speci Measure the power supply voltage SEEE power supp ly voltage within pe the specified range fied limit Insufficient external regenerative resistance Change the regenerative resistance A 920 regenerative resistor n regenerative resistor capacity or SER Regenerative capacity or SERVO er the operating cones the VOPACK capacity Reconsider the Overload PACK capacity capacity using the capacity selection operating conditions using the capac Warning before Or A power Software SigmaJunmasizet Etc ity sesion software Bose the alarm A 320 has been continuously Sizet etc occurs flowing back Regenerative power ti ly fl R ider th tem includi convoy owed check tne load to the servomotor ur arose he system ineluding servo load was continuously me operation tions applied The servomotor rotates Take measures to ensure the servomo because of external Check the operation status tor will not rotate because of external force force ai Brake Reconsider the following erue The rotating energy at a Check the power consumed by DB
61. urer Use the specified I O signal cable The I O signal cable length must be no more than 3 m Use the specified encoder cable The encoder cable must be no more than 50 m Replace the encoder cable and cor rect the cable layout Correct the cable layout so that no surge is applied Properly ground the machines to separate from the encoder FG Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replace the servomotor 9 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor cont d Corrective Actions Execute the advanced autotuning Reduce the speed loop gain Pn100 Problem Probable Cause Investigative Actions Check to see if the servo gains have Unbalanced servo gains been correctly adjusted Speed loop gain value Pn100 too Check the speed loop gain Pn100 high Factory setting Kv 40 0 Hz E Md Position loop gain value Pn102 TR ui position loop gai quency of Approx too high Factory setting Kp 40 0 s 200 to 400 Hz Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant Pn101 Incorrect moment of inertia ratio Pn103 Check the moment of inertia ratio Pn103 Correct t
62. used Settings for the input signal selec tions Pn50A Pn50B and Pn511 is incorrect Check the settings for parameters Pn50A Pn50B and Pn511 Correct the settings for parameter Pn50A Pn50B and Pn511 SV ON command is not sent Check the command sent from the Send the SV ON command host controller x SENS ON command is not sent Send the command in the correct SERVOPACK sequence Check the command sent from the host controller The forward run prohibited P OT and reverse run prohibited N OT input signals are turned OFF Turn P OT or N OT input signal Check P OT or N OT input signal ON The safety input signal HWBB1 or HWBB2 remains OFF Set the HWBB1 and HWBB2 input signal to ON When not using the safety function mount the safety function jumper connector provided as an acces sory on the CN8 Check the HWBB1 and HWBB2 input signal A SERVOPACK fault occurred Servomotor Moves Instanta neously and then Stops Servomotor wiring is incorrect Encoder wiring is incorrect Servomotor Speed Unstable Wiring connection to servomotor is defective Servomotor Ro tates Without Ref erence Input A SERVOPACK fault occurred Replace the SERVOPACK Check connections of power line phases U V and W and encoder connectors Tighten any loose terminals or con nectors and correct the wiring Replace the SERVOPAC
63. vel Pn520 Or adjust the speed limit level at servo ON Pn529 A d10 Motor load Position Error Overflow Motor rotation direction and external encoder installation direction are opposite Check the and the external encoder installation direction Install the external encoder in the opposite direction or change the setting of the external encoder usage method Pn002 3 to reverse the direction Mounting of the load e g stage and external encoder joint instal lation are incorrect Check the external encoder mechanical connection Check the mechanical joints A E02 MECHATROLINK Internal Synchroniza tion Error 1 MECHATROLINK transmission cycle fluctuated Remove the cause of transmission cycle fluctuation at host controller A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E40 MECHATROLINK Transmission Cycle Setting Error Setting of MECHATROLINK transmission cycle is out of speci fications range Check the MECHATROLINK transmission cycle setting Set the transmission cycle to the proper value Troubleshooting 9 19 9 20 9 Troubleshooting 9 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A E50 MECHATROLINK Synchronization Error WDT da
64. verload alarm may occur A x Absolute Encoder Battery This warning occurs when the voltage of absolute encoder s battery is low 930 Error ered A 94A dc i MOM or Incorrect command parameter number was set A 94B 2 Out EM E 2 Command input data is out of range 9 Data Setting Warning 3 2 A 94C Calculation Error Calculation error was detected 9 Data Setting Warning 4 f 2 A 94D Parameter Size Data size does not match 9 Data Setting Warning 5 2 A 94E Latch Mode Error Latch mode error is detected A 95A Command Warning 1 Command was sent although the conditions for sending a command were not 95 Unsatisfying Command satisfied 2 Command Warning 2 2 A 95B Non supported Command Unsupported command was sent 9 Command Warning 4 2 A 95D Command Interference Command especially latch command interferes 2 Command Warning 5 2 A 95E Subcommand Disable Subcommand and main command interfere o x9 Command Warning 6 E 2 o A 95F Undefined Command Undefined command was sent g 5 x9 MECHATROLINK T 2 2 A 960 Communications Warning Communications error occurred during MECHATROLINK communications 3 He A 971 3_ Undervoltage This warning occurs before undervoltage alarm A 410 occurs If the warn ing is ignored and operation continues an undervoltage alarm may occur A 9A0 Overtravel Overtravel is detected while the servomotor power is ON CH Use Pn008 2 to act

2.1 AC Servo Drives ∑-V Series Troubleshooting USER`S MANUAL

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2.1 AC Servo Drives &sum;-V Series Troubleshooting USER`S MANUAL

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2.1 AC Servo Drives ∑-V Series Troubleshooting USER`S MANUAL