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

1. 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 E62 MECHATROLINK Communications error FCS error MECHATROLINK wiring is Check the MECHATROLINK wir Correct the MECHATROLINK wir incorrect ings ing Take measures against noise Check MECHATROLINK data recep the MECHATROLINK communi 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 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 Cause Investigative Actions Corrective Actions Alarm Description MECHATROLINK wiring is Check the MECHATROLINK wir Correct the MECHATROLINK wir incorrect ings ing Take measures against noise Check A E63 MECHATROLINK data recep 1e MECHA TROLINE comipiuni MECHATROLINK Synchronization Frame Not Received Alarm 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 A S
2. Reconnect the battery The battery voltage is lower than the specified value 2 7 V Measure the battery voltage Replace the battery Oda A SERVOPACK fault _ The SERVOPACK may be faulty my when an occurred Replace the SERVOPACK absolute encoder is connected A 94A Refer to 9 3 Monitoring Communica Data Setting Debi 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 Data etting ues outside the range to or Warning to determine which A value or Me paramere within Warning 2 the allowable range Out of R the command data command was the cause of the Out of Range warning A 94C Refer to 9 3 Monitoring Communica Data Setting tion Data on Occurrence of an Alarm me 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 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 param
3. 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 35
4. e Do not specify movements that would cause overtravel from the host controller e Check the wiring of the overtravel signals Take countermeasures for noise Troubleshooting 9 29 9 30 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 950 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 Pn8A6 Response Data Monitor at Alarm Warning Occurrence Pn8A8 to Pn8BE Command Data Storage at Command Alarm Warning Occurrence Byte Order CMD RSP Example Pn8A8 87 65 43 21 0 Pn890 1 to0 Pn8A8 1 to 0 EXE A 1 Pn890 3 to 2 Pn8A8 3 to 2 2 Pn890 5 to 4 Pn8A8 5 to 4 3 Pn890 7 to 6 Pn8A8 7 to 6 4to7 Pn892 Pn8AA 8 to 11 Pn894 Pn8AC 12 to 15 Pn896 Pn8AE 16 to 19 Pn898 Pn8BO 20 to 23 Pn89A Pn8B2 24 to 27 Pn89C Pn8B4 28 to 31 Pn89E Pn8B6 32 to 35 Pn8A0 Pn8B8 36 to 39 Pn8A2 Pn8BA 40 to 43 Pn8A4 Pn8BC 44 to 47 Pn8A6 Pn8BE Note 1 Data is stored in little endian byte order and displayed in the hexadecimal format 2 For details on commands refer to 3 V Series User s Manual MECHATROLINK II Standard Servo Pro file Commands No SIEP
5. 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 host controller Send the SV_ON command SENS_ON command is not sent Check the command sent from the host controller Send the command in the correct SERVOPACK sequence The forward run prohibited P OT and reverse run prohibited N OT input signals are turned OFF Check P OT or N OT input signal Turn P OT or N OT input signal ON The safety input signal HWBB1 or HWBB2 remains OFF Check the HWBB1 and HWBB2 input signal Set the HWBB1 and HWBB2 input signal to ON When not using the safety function mount the safety function s jumper connector provided as an acces sory on the CN8 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 Check connections of power line phases U V and W and encoder connectors Replace the SERVOPACK Tighten any loose terminals or con nectors and correct the wiring Replace the SERVOPACK Dynamic Brake Does Not Operate Improper Pn001 0 setting Check the setting for pa
6. 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 Problem Probable Cause Investigative Actions Corrective Actions Unbalanced servo gains Check tosse ine servo gains have Execute the advanced autotuning been correctly adjusted Speed loop gain value Pn100 too Check the speed loop gain Pn100 Reduce the speed loop gain high Factory setting Kv 40 0 Hz Pn100 ee ou Position loop gain value Pn102 en S position loop gain Reduce the position loop gain quency of Approx ee Factory setting Kp 40 0 s oa 200 to 400 Hz 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 the moment of inertia ratio Pn103 High Motor Speed Overshoot on Starting and Stop ping Unbalanced servo gains Check to see
7. A 962 Take measures against noise Check MECHATROLINK MECHATROLINK the MECHATROLINK communica RAE data reception error zis tions cable and FG wiring and take Communications Confirm the installation conditions E Warning occurred due to noise measures such as adding ferrite core interference on the MECHATROLINK communi FCS Error cations cable A SERVOPACK fault A fault occurred in the SERVOPACK occurred Replace the SERVOPACK Correct the MECHATROLINK wir MECHATROLINK Confirm the wiring ing wiring is incorrect Or connect a terminal to the terminal station A 963 Take measures against noise Check MECHATROLINK MECHATROLINK the MECHATROLINK communica Communica data reception error tions cable and FG wiring and take tions Warning P Confirm the installation conditions ee eee occurred due to noise measures such as adding ferrite core Synchronization interference on the MECHATROLINK communi Frame Not cations cable Received A SERVOPACK fault A fault occurred in the SERVOPACK occurred E Replace the SERVOPACK For 100 VAC SER VOPACKs The AC power supply voltage is 60 V or less e For 200 VAC SER vores Set the power supply voltage within The AC power supply Measure the power supply voltage p PPly 8 the specified range voltage is 140 V or less For 400 VAC SER VOPACKs The AC power supply A971 Under voltage is 280 V or voltage less The power supply volt age dropped during Measure the power supp
8. 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 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 r
9. PACK overheated Incorrect wiring or contact fault of main circuit cables Check the wiring Refer to 3 1 Main Circuit Wiring Correct the wiring Short circuit or ground fault of main 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 1 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 1 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 1 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 alar
10. 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 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 Max Motor Speed min x Encoder resolution 2 Pn20E 6x 10 Pn210 Encoder resolution _ Pn20E About 3 66 x 1012 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
11. S800000 63 9 4 9 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Conditions of the Servomotor Troubleshooting Malfunction Based on Operation and 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 Check the wiring Check if the connector CN1 is prop Correct the connector CN1 connec erly inserted and connected tion Correct 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 used Settings for the input signal selec tions Pn50A Pn50B and Pn511 is incorrect
12. 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 Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 300 Regeneration Error e 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 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 sti
13. 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 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 s
14. be faulty Replace the servomotor e Absolute encoder that shows val ues for a single rotation or incre mental encoder The servomotor may be faulty Replace the servomotor A SERVOPACK 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 i
15. beyond the overload protection characteristics Check the servomotor overload characteristics and executed run command Reconsider the load conditions and operating conditions Or increase 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
16. 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 The surrounding air temperature Check the surrounding air tempera pc pa 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 eta 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 7AB 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 If the alarm still occurs
17. 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 Pn 100 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 Check the moment of inertia ratio Pn103 The encoder cable must be tinned annealed copper shielded twisted pair or screened unshi
18. power supply was turned Gr 1 Available rror ON 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 Gr1 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 mal Encoder Error of Serial converter unit is faulty Gr 1 Available Module A 8A2 es Encoder Error of External encoder is faulty Gr 1 Available ensor A 8A3 salia Enceder Errorof The position data of external encoder is faulty Gr 1 Available A 8A5 External Encoder Overspeed The overspeed from the external encoder occurred Gr 1 Available A 8A6 External Encoder Overheated The overheat from the external encoder occurred Gr 1 Available A b31 Current Detection Error 1 The current detection circuit for phase U is faulty Gr 1 N A A b32 Current Detection Error 2 The current detection circuit for phase V is faulty Gr 1 N A Troubleshooting 9 3 9 4 9 Troubleshooting 9 1 1 List of Alarms cont d Servo Alarm motor Alarm Number Ae NEME Maeng Stopping Reset Method A b33 Current Detection Error 3 The detection circuit for the current is faulty Gr 1 N A A b6A eager ASIC error occurred in the MECHATROLINK Grl N A j ASIC Error 1 communications j A b6b hara ASIC
19. provides list of warnings Warning 7 Nune Warning Name Meaning Reset x as Position error exceeded the parameter settin 1 P 8 A 900 Position Error Overflow Pn520xPn51E 100 Required A901 Position Error Overflow When the servomotor power is ON the position error exceeded Required 5 Alarm at Servo ON the parameter setting Pn526xPn528 100 q This warning occurs before the overload alarms A 710 or A 910 Overload A 720 occur If the warning is ignored and operation contin Required ues an overload alarm may occur Abnormal vibration at the motor speed was detected The A 911 Vibration detection level is the same as A 520 Set whether to output an Required alarm or warning by the vibration detection switch Pn310 This warning occurs before the regenerative overload alarm A 920 Regenerative Overload A 320 occurs If the warning is ignored and operation contin Required ues a regenerative overload alarm may occur This warning occurs before dynamic brake overload alarm A 921 1 Dynamic Brake Overload A 731 occurs If the warning is ignored and operation contin Required ues a dynamic brake overload alarm may occur 4 Absolute Encoder Battery This warning occurs when the voltage of absolute encoder s 1 A 930 Error battery is lowered Required A 94A 2 reed oles LE Incorrect command parameter number was set ca A 94B ice ea i Command input data is out of r
20. 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 Re Reduce the reference acceleration and ae position reference is too operate the SERVOPACK smooth the acceleration of the 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 Check the alarm level Pn520 ire Set the Pn520 to proper value 3 if it is set to an appropriate value against the operating 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 A 901 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 Troubleshooting at Servo ON Pn526xPn528 100 Incorrect wiring or con tact fault of servomotor Check the wiring ee servomotor and encoder are correctly wired and encoder Operatio
21. 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 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 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 E61 MECHATROLINK Transmission Cycle Error Synchronization interval error MECHATROLINK transmission cycle fluctuated
22. 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 speed 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
23. 0A 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 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 SERVOPACK pulse count error due Investigative Actions The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielde
24. 9 Troubleshooting 91 PRIS WAY So O 9 2 9 121 List of Alarms 60 0234 e2e dee ee ee deren ned eed be ete eel gat tes 9 2 9 1 2 Troubleshooting of Alarms 0 0 teeta 9 7 9 2 Warning Displays sudor rr eee Re wo ee eke 9 23 9 2 1 List of Wa i gS lt eciooiocio ico rie Bee ee ee 9 23 9 2 2 Troubleshooting of WarningS oo ooooocccccr eee 9 25 9 3 Monitoring Communication Data on Occurrence of an Alarm las o 22 5 haw ee are ute hum oem a eo cee ae ed vie were Ber ane 9 30 9 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 0 0000 e eee nooo 9 31 o 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 1 1 List of Alarms The causes of alarms and troubleshooting methods are provided in 9 1 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 al
25. ERVOPACK 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 The Feedback Option Module was disconnected Check the connection between the SERVOPACK and the Feedback Option Module Correctly connect the Feedback Option Module Execute resetting configuration error in option modules Fn014 and turn the power supply OFF and then ON again A Feedback Option Module fault occurred Replace the Feedback Option Mod ule A SERVOPACK fault occurred Replace the SERVOPACK A E74 Unsupported Safety Option Module A safety option module fault occurred Replace the safety op
26. ERVOPACK may be faulty Replace the SERVOPACK 9 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 330 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 suppl
27. OPACK and the host con troller Take measures against noise and again execute a multiturn data par ity check o Troubleshooting 9 33 9 34 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 PnSOB Correct the settings for parameters Pn50A and PnSOB 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 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 Pn5
28. a Command Subcommand sending tion Data on Occurrence of an Alarm s ees end a command after command Warning 5 condition is not satis or Warning to determine which sending conditionis satstied Subcommand fied command was the cause of the 5 Disable warning A 95F Refer to 9 3 Monitoring Communica Command Warn Undefined command tion Data on Occurrence of an Alarm ing 6 Ap 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 eee 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 Communications Warning data reception error occurred due to noise Confirm the installation conditions tions cable and FG wiring and take measures such as adding ferrite core interference on the MECHATROLINK communi cations cable A SERVOPACK fault _ A fault occurred in the SERVOPACK occurred Replace the SERVOPACK Troubleshooting 9 27 9 28 9 Troubleshooting 9 2 2 Troubleshooting of Warnings cont d Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description Correct the MECHATROLINK wir MECHATROLINK Confirm the wiring ing wiring is incorrect Or connect a terminal to the terminal station
29. ange a x Data Setting Warning 3 Automatic 2 A 94C Calculation Error Calculation error was detected reset x Data Setting Warning 4 Automatic 2 A 94D Parameter Size Data size does not match sera 9 Data Setting Warning 5 i 2 A 94E Latch Mode Error Latch mode error is detected Required A 95A 2 Command Warning 1 Command was sent although the conditions for sending a com Automatic Unsatisfying Command mand were not satisfied reset 4 Command Warning 2 Aut t A 95B 2 Non supported Unsupported command was sent i er Es Command reset x9 Command Warning 4 Automatic 2 A 95D Command Interference Command especially latch command interferes reset 4 9 Command Warning 5 Automatic 2 A 95E Subcommand Disable Subcommand and main command interfere re 9 Command Warning 6 Automatic 2 A 95F Undefined Command Undefined command was sent eset A A 960 2 MECHATROLINK Communications error occurred during MECHATROLINK Required Communications Warning communications A Troubleshooting 9 23 9 Troubleshooting 9 2 1 List of Warnings 9 24 cont d vane Warning Name Meaning Reset MECHATROLINK Commu oar A 9622 nications Warning ee error occurred during MECHATROLINK Required FCS Error MECHATROLINK Commu A 2 nications Warning The synchronization frame was not received during MECHA Reduired 963 Synchronization Frame TROLINK commun
30. arm occurs PnOOB 1 is factory set to 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 Pn00B 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 Alarm E motor Alarm Number Ae NEME anino Stopping Reset Method A 020 Parameter Checksum Error 1 dhe data ot thepardineter in the SERVOFACK ip Gr 1 N A incorrect A021 Parameter Format Errori 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 A 041 Encoder Output Pulse Setting The encoder output pulse Pn212 is outside the set Grl N A j Error ting range or does not satisfy the setting conditions i A 042 Parameter Combination Error Combination of some parameters exceeds the set Gr 1 N A ting range Semi closed Fully closed A044 Loop Control Param
31. ata Size Setting Error The number of transmission bytes set by the DIP switch S3 is incor rect Check the MECHATROLINK com munications data size of the host controller A Troubleshooting Reset the setting of the DIP switch S3 to change the number of trans mission bytes to the proper value 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 E42 MECHATROLINK Sta tion Address Setting Error The station address is out of the allowable setting range Check the rotary switches S1 and S2 to see if the station address is within the allowable range from 03 to EF Check the setting for the station address of the host controller and reset the setting of the rotary switches S1 and S2 to change the address to the proper value between 03 and EF Two or more stations on the com munications network have the same address Check that two or more stations on the communications network have the same address Check the setting for the station address of the host controller and reset the setting of the rotary switches S1 and S2 to change the address to the proper value between 03 and EF A E50 MECHATROLINK Synchronization Error WDT data of host controller was not updated correctly Check the WDT data updating for the host controller Update
32. d 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 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 to noise Without Alarm Check if vibration from the machine Excessive vibration and shock to occurred or servomotor installation the encoder is incorrect mounting surface accu racy fixing alignment etc A Check if a position error occurs at Unsecured coupling between the coupling between machine and machine and servomotor servomotor The I O signal cable must be tinned Noise interf d annealed copper shielded twisted olse interference ue to improper pair or screened unshielded twisted I O signal cable specifications 2 pair cable with a core of 0 12 mm min Noise interference due to length of VO signal cable Check the I O signal cable length An encoder fault occurred The 7 pulse count does not change A SERVOPACK fault occurred Ambient operating temperature too Measure the servomotor ambient high operating temperature Servomotor Servomotor surface dirty Visually check the surface Overheated Servomotor overloaded Check the load status with monitor Corrective Actions Use the specified encoder cable
33. e Feedback Grl N A Timer stop Option Module is faulty y Position error exceeded the value of excessive posi A d00 Position Error Overflow tion error alarm level Pn520 when the servomotor Gr 1 Available power is ON at This alarm occurs if the servomotor power is turned A d01 R aie ae Overflow Alarm ON when the position error is greater than the set Gr 1 Available value of Pn526 while the servomotor power is OFF When the position errors remain in the error counter Pn529 limits the speed if the servomotor ide power is turned ON If Pn529 limits the speed in A d02 pelo er such a state this alarm occurs when position refer Gr 2 Available yY gt P ences are input and the number of position errors exceeds the value set for the excessive position error alarm level Pn520 A d10 Motor load Position Error During fully closed loop control the position error Gr2 Available Overflow between motor and load is excessive 9 1 Alarm Displays cont d Servo Alarm F motor Alarm Number AEN NEME Meaning Stopping Reset Method MECHATROLINK o eer Synchronization error during MECHATROLINK A E02 tt Synchronization communications with the SERVOPACE Gr 1 Available MECHATROLINK y A E40 Transmission Cycle Setting oe Seung pie a onan Mansmisgion Gr 2 Available Error cycle is out of the allowable range MECHATROLINK f A E41 Communications Data Size The
34. e Signal Input The safety function signal input timing is faulty Gr 1 N A A EbO SERVOPACK Safety 7 7 7 A Module Alarms A ECO SERVOPACK Safety 4 Module Alarms gt E A timeout error occurred when using a MECHA A Ed1 Command Execution Timeout TROLINK command Gr 2 Available A F10 Main Circuit Cable Open With the main power supply ON voltage was low Gr2 Available Phase for more than 1 second in phase R S or T 1 These alarms occur in SERVOPACKs with safety modules For details refer to 2 V Series User 5 Manual Safety Module No SIEP C720829 06 Troubleshooting 9 5 9 6 9 Troubleshooting 9 1 1 List of Alarms cont d Servo Alarm E motor Alarm Number eos Meaning Stopping Reset Method A FL 1 i System Alarm Na program error occurred in the SERVO N A FL 2 2 N A CPF00 Digital Operator Transmission 7 N A Error 1 Digital operator JUSP OP05A 1 E fails to com ai issi municate with the SERVOPACK e g CPU error CPFO01 oe Operator Transmission e g a N A rror 2 A Not an error Normal operation status 2 These alarms are not stored in the alarm history and are displayed only in the panel display 9 1 2 Troubleshooting of Alarms 9 1 Alarm Displays If an error occurs in servo drives an alarm display such as A OO0 and CPFOO will appear on the panel dis play Refer to the following table to identify the cause of an alarm and
35. eference 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 and 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 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 pos
36. elded twisted pair cable with a core of 0 12 mm min Check the length of the encoder cable Correct the moment of inertia ratio Pn103 Use the specified encoder cable The encoder cable must be no more than 50 m 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 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 the host controller is exe cuting data parity checks Execute a multiturn data parity check Check noise in the cable between the SERV
37. eplace 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 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 p
38. error occurred in the MECHATROLINK Gr2 N A ASIC Error 2 communications A bFO System Alarm 0 Internal program error 0 of the SERVOPACK Grl N A y occurred A bF1 System Alarm 1 Internal program error 1 of the SERVOPACK Grl N A 5 y occurred A bF2 System Alarm 2 Internal program error 2 of the SERVOPACK Grl N A 5 y occurred A bF3 System Alarm 3 Internal program error 3 of the SERVOPACK Grl N A y occurred A bF4 System Alarm 4 Internal program error 4 of the SERVOPACK Grl N A 3 y occurred J A C10 Servo Overrun Detected The servomotor ran out of control Gr 1 Available A C80 a ace The multiturn for the absolute encoder was not Grl N A i Setting Error properly cleared or set i Encoder Communications Communications between the SERVOPACK and AO Error the encoder is not possible SE NA A C91 ogar E eee An encoder position data calculation error occurred Gr 1 N A Encoder Communications An error occurs in the communications timer ALEE Timer Error between the encoder and the SERVOPACK an NA A CAO Encoder Parameter Error Encoder parameters are faulty Gr 1 N A A Cb0 Encoder Echoback Error Contents of communications with encoder are Grl N A E incorrect j eras Different multiturn limits have been set in the A CCO Multiturn Limit Disagreement encoder and the SERVOPACK Gr 1 N A A CF1 ee a se Reception from the Feedback Option Module is Grl N A Reception error faulty A CF2 Torana toe a oe me Timer for communications with th
39. eter The settings of the option module and PnOOB 3 Grl 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 The SERVOPACK and the servomotor capacities A 050 Combination Error Ha tah match eachother Gr 1 Available A 051 Unsupported Device Alarm The device unsupported was connected Gr 1 N A Cancelled Servo ON The servo ON command SV_ON was sent from A 0b0 Command Alarm the host controller after executing a utility function Gr 1 Available that turns ON servomotor A 100 Overcurrent or Heat Sink An overcurrent flowed through the IGBT or the Grl N A Overheated heat sink of the SERVOPACK was overheated j Regenerative circuit or regenerative resistor 1s faulty Gr 1 Available A 300 Regeneration Error 9 1 Alarm Displays cont d Servo Alarm motor Alarm Number Aenm Neme Meaning Stopping Reset Method A 320 Regenerative Overload Regenerative energy exceeds regenerative resistor Gr2 Available capacity Main Circuit Power e Setting of AC input DC input is incorrect AS Supply Wiring Error e Power supply wiring is incorrect on Available 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 mai
40. eter size 9 2 Warning Displays cont d Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description A 94E Refer to 9 3 Monitoring Communica yee ac ae i i A Setting arado tion Data on Occurrence of an Alarm LTMOD ON command sent by the arning 5 or Warning to determine which h ller to th 1 Latch mode detected command waa the cause ofthe ost controller to the proper value warni When using the MECHATROLINK error 8 II compatible profile A 95A Refer to 9 3 Monitoring Communica Command Command sending con Hon Pata a pandas a EE Aon Send a command after command Warning 1 E A or Warning to determine which A ae oe dition is not satisfied sending condition is satisfied Unsatisfying command was the cause of the Command warning A 95B Refer to 9 3 Monitoring Communica Command SERVOPACK received 0 Data on Occurrence of an Alarm Warning 2 nsubroned command 2 Warning to determine which Do not sent an unsupported command Non supported PP command was the cause of the Command warning A 95D Command sendine con Refer to 9 3 Monitoring Communica Command dition for ehde Bon Dala On OGCUTENCE Of An Alarm Send a command after command Warning 4 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 Communic
41. 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 CPFO1 Digital Operator Transmission Error 2 A digital operator fault occurred Discomnect 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 Warning Displays 9 2 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
42. ications q Not Received This warning occurs before undervoltage alarm A 410 occurs A 971 9 Undervoltage If the warning is ignored and operation continues an undervolt Required age alarm may occur 2 Command Warning 7 A command that cannot be executed in the current phase was Automatic A 97A Phase Error sent reset 4 A97B 2 Data Clamp The set command data was clamped to a minimum or maxi Automatic 9 Out of Range mum value out of the allowable setting range reset 4 A 9A0 Overtravel Overtravel is detected while the servomotor power is ON Required 1 Use Pn008 2 to activate 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 4 Tf using the commands for the MECHATROLINK II standard servo profile the warning will automatically be cleared after the correct command is received If using the commands for the MECHATROLINK II compatible profile send a Clear Warning or Alarm command ALM_CLR to clear the warning 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 9 2 Warning Displays Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description The servomotor U V Check the
43. ion 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 having 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
44. ition references are Correct the excessive position error alarm level Pn520 Or adjust the speed limit level at Limit at Servo ON input and the number of position servo ON Pn529 errors exceeds the value set for the excessive position error alarm level Pn520 Install the external encoder in the Motor rotation direction and Check the servomotor rotation opposite direction or change the A d10 external encoder installation direction and the external encoder _ setting of the external encoder Motor load Position Error Overflow direction are opposite installation direction 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 A E41 MECHATROLINK Communications D
45. ll 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 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 S
46. ly voltage Increase the power supply capacity operation 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 9 2 Warning Displays cont d Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description noe A d that t Command Warn 2 Command that canno Send a command after command h be executed in the cur ae ing 7 rent vh s was sent sending condition is satisfied Phase Error p E The set command data Saip Was clap ed OA Set the value of the command data Data clamp ee E within the allowable range Out Of Range value out of the allow ge able setting range A 9AO 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 Malfunc 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
47. m 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 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
48. n beyond the Chedkethe motoroveiload characters Reconsider the load conditions and overload protection operating conditions Or increase the A 910 ae tics and executed run command characteristics motor capac ty 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 ion The moment of inertia ibrati 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 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 The power supply volt ee age exceeds the speci Measure the power supply voltage Ae POWA SUPP byveltage within Popa the specified range fied limit Insufficient external regenerative
49. n circuit has deteriorated or ASEM Capacitor Overvoltage is faulty Ent Ne A510 Overspeed The servomotor speed is above the maximum rota Grl Available tional speed Overspeed of Encoder The pulse output speed upper limit of the set a aoe Output Pulse Rate encoder output pulse Pn212 is exceeded a 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 Grl Available less function The servomotor was operating for several seconds A 710 Overload High Load to several tens of seconds under a torque largely Gr 2 Available exceeding 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 Gr 1 Available i resistor Overload of Surge The main circuit power was frequently turned ON AEN Current Limit Resistor and OFF ari Available A 7A0 Heat Sink Overheated o SCONE ERY o Gr2 Available A 7AB UM OR The fan inside the SERVOPACK stopped Gr 1 Available Stopped A810 Encoder Backup Error The power supplies to the encoder all failed and Grl N A position data was lost A 820 Encoder Checksum Error checksum results of encoder memory is incor Grl N A The battery voltage was lower than the specified A 830 pias Encoder Battery value after the control
50. on of external absolute encoder failed because the servomotor rotated Before setting the zero point posi tion use the fully closed feedback pulse counter Un00E to confirm that the servomotor 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 R
51. ous 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 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
52. ower 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 supply 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 If the alarm still occurs after turning the power OFF and then ON again even though the servomotor is cor rectly wired the servomotor may
53. place 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 OFF 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 en 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 Paramete
54. r 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 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 o Troubleshooting Set the electronic gear ratio in the range 0 001 lt Pn20E Pn210 lt 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 detect
55. rameter 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 Troubleshooting DB drive circuit fault There is a defective component in the DB circuit Replace the SER VOPACK 9 31 9 32 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 the motor speed waveform Reduce the load so that the moment of inertia ratio becomes within
56. resistance Change the regenerative resistance A 920 regenerative resistor re regenerative resistor capacity or SER Regenerative capacity or SERVO Chek the operaung condition z the VOPACK capacity Reconsider the Overload PACK capacity capacity using the capacity selection operating conditions using the capac Warning before Or eae power Sofiware SigmaJunmasizet et ity lection software Sigal ating the alarm A 320 has been continuously Size etc occurs flowing back Regenerative power contnowsy flowed Cheek the load to the servomotor ar Hei here including se neg ing operation P 8 load was continuously 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 eee Brake Reconsider the following Overload The rotating energy at a Check the power consumed by DB e 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
57. s 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 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 positi
58. setting of the MECHATROLINK communica G9 Available Setting Error tions data size is incorrect MECHATROLINK Station The setting of the MECHATROLINK station AEA Address Setting Error address is incorrect on Ne MECHATROLINK A synchronization error occurs during MECHA Ese Synchronization Error TROLINK communications a Available MECHATROLINK A synchronization failure occurs in MECHA a Synchronization Failed TROLINK communications One Available MECHATROLINK A communications error occurs continuously dur AR a Error ing MECHATROLINK communications gra idos MECHATROLINK Transmission Cycle Error The transmission cycle fluctuates during MECHA 3 AESI Synchronization interval TROLINK communications Gre Available error MECHATROLINK Communications error occurs continuously during A E62 a Error MECHATROLINK communications Gr 2 Available MEGHATROLINK Synchronization frames are not received continu ES ld rad Frame Not ously during MECHATROLINK communications Gre Available A E71 li Detection of the safety option module failed Gr 1 N A A E72 o or Apu Module Detection of the Feedback Option Module failed Gr 1 N A AE74 Unsupported Safety Option An unsupported safety option module was con Grl N A Module nected Unsupported Feedback An unsupported feedback option module was con AES Option Module nected Gri Ne 4 SERVOPACK Safety 1 A E81 Module Alarm A EA2 P Aai 2 SERVOPACK 4 SERVOPACK DRV alarm 0 occurs Gr 2 Available A Eb1 a ea
59. 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 A 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 manufacturer Use the specified I O signal cable The I O signal cable length must be no more than 3 m
60. 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 Alarm 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
61. 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 Investigative 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 Re
62. 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 Check the operating erivir nmernt 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 DE Check the value of the Pn205 of the Execute Fn013 at the occurrence of Multiturn Limit Dis the SERVOPACK Or the multi SERVOPACK alar agreement turn limit value of the SERVO j 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
63. till 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 cable 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 ser
64. tion 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 feedback option module fault occurred Replace the feedback option mod ule A unsupported feedback option module was connected Refer to the catalog of the con nected feedback option module or the manual of the SERVOPACK Connect a compatible feedback option module A EA2 DRV Alarm 2 SERVOPACK WDT 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 Troubleshooting 9 21 9 22 9 Troubleshooting 9 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions 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 HWBB2 signals The output signal circuits or devices for HWBB1 and HWBB2 or the SERVOPACK input signal circui
65. ts 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 phase power is input without setting Pn00B 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
66. tual operating conditions Check the operating conditions and the regenerative resistance Select a regenerative resistance value appropriate for the operating conditions and load The 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 SERVOPACKs The AC power supply voltage is 120 V or less For 400 VAC SERVOPACKs 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 instantane
67. vomotor 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 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
68. y 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 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 SERVOPACKs The AC power supply voltage exceeded 145 V For 200 VAC SERVOPACKs The AC power supply voltage exceeded 290 V For 400 VAC SERVOPACKs 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 ac

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

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

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