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

1. Match the linear scale direction and servomotor direction Polarity detection is not performed correctly Check if the value of Un004 elec trical angle 2 from polarity origin at an arbitrary position is between 10 degrees Correct the settings for the polarity detection related parameter 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 mass motor overspeed or DB frequently acti vated 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 Abnormal Noise from Servomotor The servomotor largely vibrated during execution of tuning less function Mounting is not secured 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 linear scale connection cables Noise interference due to length of linear scale connection cables Noise interference due to damaged linear scale connection cables Excessive noise to the linear scale connection cables Check the motor speed waveform Reduce the load so that the mass ra
2. Check the mass ratio Set the mass ratio Pn103 to an appropriate value 8 25 8 26 8 Troubleshooting 8 2 2 Troubleshooting of Warnings cont d Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description The power supply volt Tus age exceeds the speci Measure the power supply voltage vi the ui supply voltage within fied limit the specified range Insufficient external regenerative resistance Change the regenerative resistance A 920 regenerative resistor ie regenerative resistor capacity or SER Regenerative capacity or SERVO Chek the operaung condition z the VOPACK capacity Reconsider the capacity using the capacity selection C Overload PACK capacity Software Biemalunmatizek ete operating conditions using the capac Warning before Or regenerative power 8 D ity selection software SigmaJunma the alarm A 320 has been continuously Size etc occurs flowing back Regenerative power continuously flowed Chiedi Hie loadto th servomotor duke Reconsider the system including servo back because negative ins operation drives machine and operating condi load was continuously 8 Op tions applied The servomotor moves Take measures to ensure the servomo because of external Check the operation status tor will not move because of external force force A 921 Reconsider the following Dynamic Brake Overload The moving
3. other Check the combination of SERVO PACK and servomotor capacities Select the proper combination of SERVOPACK and servomotor capacities A SERVOPACK fault occurred The SERVOPACK may be faulty 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 Pn20E Pn210 4000 Set the electronic gear ratio in the range 0 001 Pn20E Pn210 4000 8 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 041 Encoder Output Pulse Setting Error The encoder output resolution Pn281 is out of the setting range and does not satisfy the setting conditions Check the parameter Pn281 Set Pn281 to a correct value A 042 1 Parameter Combination 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 having changed the
4. 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 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 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 Ch
5. 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 Dynamic Brake Overload A 731 occurs If the warning is ignored and operation contin Required ues a dynamic brake overload alarm may occur i i Aut ti A 94A aac eee EOD Incorrect command parameter number was set uer i i i Aut ti A 94B our dS cr 2 Command input data is out of range et n E i i Automati A 94C adn ERA 3 Calculation error was detected ur 5i j i i Automati A 94D eae 4 Data size does not match mS A 94E qs i Med E 5 Latch mode error is detected Required A 95A Command Warning 1 Command was sent although the conditions for sending a com Automatic j Unsatisfying Command mand were not satisfied reset 4 Command Warning 2 Aut t A 95B Non supported Com Unsupported command was sent u En m mand rese i 2 d Aut ti A 95D Cs SE Command especially latch command interferes uut 5 i Aut ti A 95E 2 eg ee e Subcommand and main command interfere un i Aut ti A 95F T Mee oe d Undefined command was sent nt i A 960 2 MECHATROLINK Communications error oc
6. 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 8 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions Remove foreign matter or debris A 7AB Built in Fan in The fan inside the SERVOPACK Check for foreign matter or debris Vetere Mu apu ud aoe stopped inside the SERVOPACK PACK may be faulty Replace the SPEO SERVOPACK A 820 The linear scale may be faulty Encoder Checksum Error Detected on the linear scale side A linear scale fault occurred Replace the linear scale A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 840 Encoder Data Error Detected on the linear scale side A linear scale malfunctioned Turn the power supply OFF and then ON again If the alarm still occurs the linear scale may be faulty Replace the linear scale Misreading of the linear scale occurred Reinstall the linear scale so the tol erance is within the allowable range The speed of the linear scale exceeded the allowable range Set the motor speed within the range specified by the linear scale manufacturer and restart the control pow
7. 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 Troubleshooting at Servo ON Pn526xPn528 100 Incorrect wiring or con tact fault of servomotor Check the wiring ae servomotor oau ear scale are correctly wired and linear scale Operation beyond the Chedkethe motoroveiload ehe dubie Reconsider the load conditions and overload protection operating conditions Or increase the A 910 n tics and executed run command characteristics 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 n speed force waveforms during operation as one parameter tuning Vibration The mass ratio Pn103 value is greater than the actual value or is greatly changed
8. Overspeed The linear scale was moving at high speed when the Grl N A power was turned ON A 860 Encoder Overheated The internal temperature of linear scale is too high Gr 1 N A A 890 Encoder Scale Error A linear scale fault occurred Gr 1 N A A 891 Encoder Module Error Linear scale is faulty Gr 1 N A A ALIE SERVOPACK Command H B Hu 1 Option Module Alarms 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 A b33 Current Detection Error 3 The detection circuit for the current is faulty Gr N A MECHATROLINK T EJ Communications ASIC error occurred in the MECHATROLINK com Grl N A ASIC Error 1 munications MECHATROLINK mm A b6b Communications 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 Gel N A occurred Troubleshooting 8 3 8 4 8 Troubleshooting 8 1 1 List of Alarms cont d Servo Alarm motor Alarm Number Aeta Neme Meaning Stopping Reset Method 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 Gr
9. Warning to determine which command was the cause of the warning Use the correct parameter size A 94E Data Setting Warning 5 Latch mode error Latch mode error is detected Refer to 8 3 Monitoring Communica tion Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning Change the setting value of Pn850 or the LT MOD data for the LTMOD ON command sent by the host controller to the proper value When using the MECHATROLINK II compatible profile 8 2 Warning Displays cont d Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description A 95A Refer to 8 3 Monitoring Communica Command Command sending con 2 Data a Cocurrence of on Alarm Send a command after command Warning 1 See or Warning to determine which rude o MM dition is not satisfied sending condition is satisfied Unsatisfying command was the cause of the Command warning A 95B Refer to 8 3 Monitoring Communica Command SERVOPACK received 2 Data on Occurrence of an Alarm Warning 2 or Warning to determine which Do not sent an unsupported command unsupported command Non supported command was the cause of the Command warning A 95D Command sendine coi Refer to 8 3 Monitoring Communica cenar dition for a Se non Data on Occurrence or an Alarm Send a command after command Warning 4 or Warning to determine which Command Inter f
10. scale parameters are faulty Gr 1 N A A Cb0 Encoder Echoback Error Contents of communications with linear scale are Grl N A Incorrect 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 T This alarm occurs if the servomotor power is turned A d01 VeL ET 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 Postion Error Overtow Pisis de speed ith servom ouer is A d02 Alarm by Speed Limit at SD RE Gr2 Available this alarm occurs when position references are input Servo ON x and the number of position errors exceeds the value set for the excessive position error alarm level Pn520 A d30 Position Data Overflow The position feedback data exceeded 1879048192 Gr 1 N A MECHATROLINK ae AME Synchronization error during MECHATROLINK A E02 Es Synchronization communications with the SERVOPACK Gr Available MECHATROLINK beat A E40 Transmission Cycle ba R yee ae LEE transmission Gr 2 Available Setting Error cycle is out of the allowable range MECHATROLINK A E41 Communications Data Posen s Bu ME UTE Ead Gr2 Available Size Setting Error 8 1 Alarm Displays cont d Servo Alarm motor Alarm Number Aenm Neme Meaning Stopping Re
11. serial data parity check 8 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 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 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 a
12. the servomotor power is OFF Correct the excessive position error alarm level at servo ON Pn526 8 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A d02 Position Error Overflow Alarm by Speed Limit at Servo ON When the position errors remain in the error counter Pn584 limits the speed if the servomotor power is ON If Pn584 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 level Pn520 Or adjust the speed limit level at servo ON Pn584 A d30 The position data exceeded Check the input reference pulse Reconsider the operating specifica Position Data m 1879048192 counter Un00C tions Overflow MECHATROLINK transmission Remove the cause of transmission A E02 cycle fluctuated cycle fluctuation at host controller MECHATROLINK Internal Turn the power supply OFF and Synchronization _ then ON again If the alarm still Er A SERVOPACK fault occurred occurs the SERVOPACK may be faulty Replace the SERVOPACK AE Setti f MECHATROLINK MECHATROLINK SRB Check the MECHATROLINK Set the transmission cycle to the Transmission Cycle Setting Error transmission cycle is out of speci fications range trans
13. wired Cable disconnection for linear scale connection cables or short circuit Or incorrect cable impedance Check the linear scale connection cables Use the cables with the specified rating 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 linear scale by separating the linear scale connection cables from the servo motor main circuit 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 Communications Position Data Error Noise interference occurred on the I O signal line because the linear scale connection cables are bent and the sheaths are dam aged Check the linear scale connection cables and connectors Confirm that there is no problem with the cable layout The linear scale connection cables are bundled with a high current line or near a high current line Check the cable layout for linear scale connection cables Confirm tha
14. 8 Troubleshooting 8 1 Alarm DISplayS acea qo che concetto ag esha ate Rt dal achat Jada erga aos 8 2 8 1 1 List of Alarms aee cced nerio eee eee ede ee ned eee ee eee dh rd 8 2 8 1 2 Troubleshooting of Alarms 0 cee tte eae 8 6 8 2 Warning Displays uto acum ee dX es a ga nc RR ae o C a Re aad 8 23 8 2 1 List of Warnings leder aa i e E Ree tre xe ER Tere E Ree ee 8 23 8 2 2 Troubleshooting of Warnings ssseeleee ene 8 25 8 3 Monitoring Communication Data on Occurrence of an Alarm gun cM P n 8 30 8 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor llli 8 31 g Troubleshooting 8 2 8 Troubleshooting 8 1 1 List of Alarms 8 1 8 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 8 List of Alarms The causes of alarms and troubleshooting methods are provided in 8 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 accordi
15. ACK 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 8 1 Alarm Displays cont d Alarm 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 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 550 or SGDV 260 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 SERV
16. Check the SV ON command Check the wiring Check the setting of Pn282 When using an incremental linear scale send the SV ON command from the host controller When using an absolute linear scale execute Fn080 Correct the wiring Correct the setting of Pn282 Linear scale counting up direction and servomotor coil assembly for ward direction do not agree Check the directions Change the setting of Pn080 1 Motor Phase Selection Match the linear scale direction and coil assembly direction Troubleshooting Polarity detection is not performed correctly Check if the value of Un004 elec trical angle 2 from polarity origin at an arbitrary position is between 10 degrees Correct the settings for the polarity detection related parameter 8 31 8 Troubleshooting cont d Problem Probable Cause Servomotor Speed Unstable Wiring connection to servomotor is defective Servomotor Moves Without Reference Input A SERVOPACK fault occurred Investigative Actions Check connections of power line phases U V and W and serial converter unit connectors Corrective Actions Tighten any loose terminals or con nectors and correct the wiring Replace the SERVOPACK Linear scale counting up direction and servomotor coil assembly for ward direction do not agree Check the directions Change the setting of Pn080 1 Motor Phase Selection
17. LINK data reception error occurred due to noise Confirm the installation conditions Take measures against noise Check the MECHATROLINK communica 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 8 27 8 28 8 Troubleshooting 8 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 wirin ing wiring is incorrect e i 8 Or connect a terminal to the terminal station A 963 MECHATROLINK Take measures against noise Check Communi MECHATROLINK the MECHATROLINK communica Ica 3 ar data reception error she tions cable and FG wiring and take tions Warning Confirm the installation conditions Syn h nizatio occurred due to noise measures such as adding ferrite core y interference on the MECHATROLINK communi Frame Not cations cable Received A SERVOPACK fault _ A fault occurred in the SERVOPACK occurred Replace the SERVOPACK For 100 VAC SER VOPACKs The AC power supply voltage is 60 V or less For 200 VAC SER YOR Set the power supply voltage within The AC power supply Measure the power supply voltage p Dp y 8 the sp
18. O PACK may be faulty Replace the SERVOPACK A 320 Regenerative Overload 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 SERVOPACK may be faul
19. afety E E E 2 Module Alarms Command Execution A timeout error occurred when using a MECHA p E Timeout TROLINK command on Available Main Circuit Cable Open With the main power supply ON voltage was low for APO Phase more than 1 second in phase R S or T ora foals FL 1 N A _ System Alarm Internal program error occurred in the SERVOPACK FL 2 N A CPFO00 Digital Operator 7 B N A Transmission Error 1 Digital operator JUSP OP05A 1 E fails to communi Digital Operator cate with the SERVOPACK e g CPU error GPEOT Transmission Error 2 B Ne A Not an error Normal operation status l These alarms occur in SERVOPACKs with command option modules For details refer to the manual for the command option module that is connected 2 These alarms occur in SERVOPACKs with safety modules For details refer to 2 V Series User 5 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 8 5 8 6 8 Troubleshooting 8 1 2 Troubleshooting of Alarms 8 1 2 Troubleshooting of Alarms 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 Numb
20. al 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 mass ratio exceeded the allowable value Confirm that the mass 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 8 1 Alarm Displays 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 decr
21. ange 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 Gri Available not match each other A 051 Unsupported Device Alarm The device unsupported was connected Gr 1 N A Linear Scale Pitch Setting The setting of the linear scale pitch Pn282 has not moe Error been changed from the default setting qu Ma The servo ON command SV_ON was sent from the A 0b0 cancelled Servo ON 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 Grl N A 3 Overheated sink of the SERVOPACK was overheated A 300 Regeneration Error Regenerative circuit or regenerative resistor is faulty Gr 1 Available A 320 Regenerative Overload a energy exceeds fogoneratiye resistor Gr 2 Available 8 1 Alarm Displays cont d Servo Alarm motor Alarm Number Aenm Neme Meaning Stopping Reset Method Main Circuit Power Setting of AC input DC input is incorrect AS Supply Wiring Error Power supply wiring is incorrect a pees 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 d
22. ccurred 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 8 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A C10 Servo Overrun Detected 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 The setting of the motor phase selection Pn080 1 is incorrect Check the setting of Pn080 1 Correct the setting of Pn080 1 A linear scale fault occurred Ifthe alarm still occurs after turning the power OFF and then ON again even though the linear scale is cor rectly wired the linear scale may be faulty Replace the linear scale A SERVOPACK faul
23. curred during MECHATROLINK Required Communications Warning communications q MECHATROLINK P A 962 Communications Warning Communications error occurred during MECHATROLINK Required FCS Error communications Troubleshooting 8 23 8 Troubleshooting 8 2 1 List of Warnings 8 24 cont d vane Warning Name Meaning Reset MECHATROLINK A 963 2 Communications Warning The synchronization frame was not received during MECHA Required Synchronization Frame TROLINK communications q Not Received This warning occurs before undervoltage alarm A 410 occurs A 971 Undervoltage If the warning is ignored and operation continues an undervolt Required age alarm may occur 9 Command Warning 7 A command that cannot be executed in the current phase was Automatic A 97A Phase Error sent reset 4 A 97B 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 Ifusing the commands for the MECHATROLINK II standard servo profile the warning will automatically be cleared after the correct command is received If using the co
24. cute polarity detection A C53 Out of Range for Polarity Detection The moving distance exceeded the set value of Pn48E in the mid dle of detection Increase the value of the polarity detection range Pn48E Or increase the value of the changes in the sequence input signal allocation for each signal Pn481 A C54 Polarity Detection Error 2 External force was applied to the servomotor Increase the value of the polarity detection confirmation force refer ence Pn495 Increase the value of the polarity detection allowable error range Pn498 Note that increasing the allowable error will also increase the motor temperature A C80 Absolute Encoder Clear Error A linear scale fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the linear scale may be faulty Replace the linear scale 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 8 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A C90 Encoder Communications Error Contact fault of connector or incorrect wiring for linear scale connection cables Check the connector contact status for linear scale connection cables Re insert the connectors and con firm that the linear scale is correctly
25. der 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 ON again EE MIRA CHOR The SERVOPACK may be fault t T e may be faulty incorrect A SERVOPACK fault occurred Replace the SERVOPACK The power supply voltage sud The SERVOPACK may be faulty 022 denly dropped Measure the power supply voltage Replace the SERVOPACK System Checksum The power supply went OFF Check the circumstances when the The SERVOPACK may be faulty Error 1 while setting an utility function power supply went OFF Replace the SERVOPACK The parameter data in Turn the power supply ON and OFF the SERVOPACK is A SERVOPACK fault occurred several times If the alarm still The SERVOPACK may be faulty incorrect occurs the SERVOPACK may be Replace the SERVOPACK faulty A 030 Main Circuit Detector Error A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 040 Parameter Setting Error 1 The parameter setting was out of the setting range The SERVOPACK and servomo tor capacities do not match each
26. ease 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 Replace the SERVOPACK A 511 Overspeed of Encoder Output Pulse Rate The encoder output pulse fre quency exceeded the limit Check the encoder output pulse set ting Decrease the setting of the encoder output resolution Pn281 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 mo
27. ecified range voltage is 140 V or less For 400 VAC SER VOPACKs The AC power supply A971 oe is 280 V or Undervoltage ie The power supply volt age dropped during Measure the power supply 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 The SERVOPACK may be faulty occurred Replace the SERVOPACK A A d that t Command T eee Send a command after command be executed in the cur VENE ada Warning 7 sending condition is satisfied rent phase was sent Phase Error The set command data rote was clamp EO Yo a mi Set the value of the command data Data Clamp ee ee i within the allowable range Out Of Range value out of the allow ge able setting range 8 2 Warning Displays cont d Warning Num ber Warning Name Warning Description Cause Investigative Actions Corrective Actions A 9A0 Overtravel 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 8 4 Troubleshooting Malfunc tion Based on Operation and C
28. eck 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 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 SERVOP
29. emove the cause of transmission A EA2 cycle fluctuated transmission cycle setting cycle fluctuation at host controller DRV Alarm 2 Turn the power supply OFF and SERVOPACK WDT then ON again If the alarm still error A SERVOPACK fault occurred occurs the SERVOPACK may be faulty Replace the SERVOPACK The output signal circuits or devices for HWBB1 and A Eb1 The lag between activations of Measure the time lag between the HWBB2 or the SERVOPACK the input signals HWBB1 and input signal circuits may be faulty Safety Function Signal HWBB2 for the HWBB function HWBBI and Input Timing Error is ten second or more HWBBZ2 signals 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 Check the status of the linear scale after an output is made to execute the command Execute the SENS ON command only when a linear scale is con nected 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 ON The three phase power supply wiring is incorrect Check the power supply
30. energy at a Check the power consumed by DB Reduce the motor reference speed f stop exceeds the resistance Un to see how man Reduce the mass ratio Warning before DES d HEDE i Ee i y d h th 8 resistance capacity times the DB has been used Reduce the number of times of the e alarm A 731 occurs DB stop operation A SERVOPACK fault The SERVOPACK may be faulty occurred Replace the SERVOPACK A 94A Refer to 8 3 Monitoring Communica Data Setting Disabled paneer tion Data on Occurrence of an Alarm Warning 1 haber m ape or Warning to determine which Use the correct parameter number Parameter Num f command was the cause of the ber Error warning Refer to 8 3 Monitoring Communica ASAE Attempted t d val tion Dat O ofan Al empted to send val tion Data on Occurrence of an Alarm T TON ai ues outside the range to or Warning to determine which Ms T nd M parameter witht 9 the command data command was the cause of the ge f Out of Range warning A 94C Refer to 8 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 the allowable range A 94D Data Setting Warning 4 Parameter Size Parameter size set in command is incorrect Refer to 8 3 Monitoring Communica tion Data on Occurrence of an Alarm or
31. er 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 Error 1 The parameter data in 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 ol
32. er supply Malfunction of linear scale because of noise interference etc Correct the wiring around the linear scale by separating the linear scale connection cable from the servomo tor main circuit cable or by check ing the grounding and other wiring The hall sensor wiring is incor rect Check the hall sensor wiring Correct the hall sensor wiring A hall sensor fault occurred Replace the hall sensor A 850 Encoder Overspeed Detected when the con trol power supply was turned ON Detected on the linear scale side The servomotor speed is higher than the specified speed when the control power supply was turned ON Check the motor moving speed Un000 to confirm the servomotor speed when the power is turned ON Set the motor speed within the range specified by the linear scale manufacturer and restart the control power supply A linear scale fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the linear scale may be faulty Replace the linear scale 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 860 Encoder Overheated Only when an absolute linear scale is con nected Detected on the linear scale side The ambient operating tempera ture around the servomotor is too high Measure the ambient operating tem pe
33. erence commands is not satis fied command was the cause of the warning sending condition is satisfied A 95E Refer to 8 3 Monitoring Communica Command Subcommand sending tion Data on Occurrence of an Alarm Warning 5 ndition is not satis or Warning to determine which Send 2 POE after command 9 A sending condition is satisfied Subcommand fied command was the cause of the Disable warning A 95F Refer to 8 3 Monitoring Communica Command Warn ndefied command tion Data on Occurrence of an Alarm ing 6 as sent 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 Communications data reception error occurred due to noise Confirm the installation conditions tions cable and FG wiring and take measures such as adding ferrite core Warning interference on the MECHATROLINK communi cations cable ASERVOPACK fault _ A fault occurred in the SERVOPACK occurred Replace the SERVOPACK Correct the MECHATROLINK wir MECHATROLINK ing A 962 MECHATROLINK Communications Warning FCS Error wiring is incorrect Confirm the wiring Or connect a terminal to the terminal station MECHATRO
34. eteriorated or is CEM Capacitor Overvoltage faulty cae Ius A 510 Overspeed The servomotor speed is above the maximum speed Gr 1 Available Overspeed of Encoder The motor speed upper limit of the set encoder output cud Output Pulse Rate resolution Pn281 is exceeded oy 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 A 550 oo Speed Setting The Pn385 setting is greater than the maximum speed Gr 1 Available The servomotor was operating for several seconds to A 710 Overload High Load several tens of seconds under a force largely exceeding Gr 2 Available ratings A 720 Overl ad L w Load The servomotor was operating continuously under a Grl Available force exceeding ratings A 730 F When the dynamic brake was applied moving energy A 731 Dynamic Brake Overload exceeded the capacity of dynamic brake resistor Gnl Available Overload of Surge The main circuit power was frequently turned ON and ie Current Limit Resistor OFF id Available A 7A0 Heat Sink Overheated The heat sink of the SERVOPACK exceeded 100 C Gr 2 Available Built in Fan in SERVO sate A 7AB PACK Stopped The fan inside the SERVOPACK stopped Gr 1 Available A 820 Encoder Checksum Error os checksum results of linear scale memory is incor Gel N A A 840 Encoder Data Error Data in the linear scale is incorrect Gr 1 N A A 850 Encoder
35. etting 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 mass ratio Pn103 Unbalanced servo gains Check the mass ratio Pn103 Check to see if the servo gains have been correctly adjusted Correct the mass ratio Pn103 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 mass ratio data Pn103 Check the mass ratio Pn103 Correct the mass ratio Pn103 The force reference is saturated Check the force reference wave form Use the mode switch function The force limit Pn483 Pn484 is set to the initial value Initial value o
36. f force limit Pn483 30 Pn484 30 Set a appropriate value for Pn483 and Pn484 Force Limit Troubleshooting 8 33 8 34 8 Troubleshooting cont d Problem Probable Cause Absolute Linear Scale Position Difference 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 linear scale connection cables Noise interference due to length of linear scale connection cables Noise interference due to damaged linear scale connection cables Excessive noise to the linear scale connection cables 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 linear scale A linear scale fault occurred Investigative Actions The linear scale connection cables 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 linear scale connection cables Check if the linear scale connection cables are bent and the sheaths are damaged Check if the linear scale connection cables are bundled with a high cur rent line or near a high current line Check if the machines are correctly grounded Check
37. greement The SERVOPACK phase data does not match that of the linear scale Execute polarity detection Fn080 A C50 Polarity Detection Error Parameter settings are incorrect Check the linear scale specifications and feedback signal status The settings of the linear scale pitch Pn282 and motor phase selection Pn080 1 may not match the actual product requirements Set these parameters to the correct values Noise interference occurred on the scale signal Check the wiring to see if Each FG of the serial converter unit and servomotor is connected to the FG of the SERVOPACK The FG of the SERVOPACK is connected to the FG of the power supply The linear scale connection cables are securely shielded Check to see if the detection refer ence is repeatedly output in one direction Take measures to avoid noise inter ference by correctly connecting FG lines shielding the linear scale con nection cables etc Troubleshooting 8 15 8 16 8 Troubleshooting 8 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A C50 Polarity Detection Error cont d An external force was applied to the motor coil assembly The polarity cannot be properly detected if the detection reference is 0 zero but the speed feedback is not 0 zero because of an external force such as cable ten
38. if there is noise interference on the I O signal line from the serial converter unit Check if vibration from the machine occurred or linear scale installation is incorrect mounting surface accu racy and fixing method A SERVOPACK fault occurred The pulse count does not change Host controller serial data reading error Check the error detection section of the host controller Corrective Actions Use the specified linear scale con nection cables The length of each cable must be equal to or shorter than the maxi mum wiring length listed here Connection cables for serial con verter unit 20 m Connection cables for linear scale 15 m Connection cables for hall sensor 15m Replace the linear scale connection cables and correct the cable layout Correct the cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG on the linear scale side Take measures against noise in the serial converter unit wiring Reduce vibration from the machine or secure the linear scale installa tion Replace the linear scale 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 serial data parity check Check noise in the cable between the SERVOPACK and the host con troller Take measures against noise and again execute a
39. ion and shock to occurred or linear scale installation the linear scale is incorrect mounting surface accu racy and fixing method The I O signal cable must be tinned ae annealed copper shielded twisted Noise interference due to improper pair or screened unshielded twisted T O signal cable specifications i 2 pair cable with a core of 0 12 mm min Noise interference due to length of T O signal cable Check the I O signal cable length A linear scale fault occurred The _ pulse count does not change A SERVOPACK fault occurred Ambient operating temperature too Measure the servomotor ambient high operating temperature Servomotor surface dirty Servomotor Servomotor overloaded Check the load status with monitor Overheated If overloaded reduce load or replace with larger capacity SER VOPACK and servomotor Polarity detection is not performed correctly Check if the value of Un004 elec trical angle 2 from polarity origin at an arbitrary position is between 10 degrees Correct the settings for the polarity detection related parameter
40. itten in the linear scale Only when not using serial converter units Check if the parameters of the motor parameter file are written in the linear scale Write the parameters of the motor parameter file in the linear scale An unsupported serial converter unit or linear scale is connected to Check the product specifications and select the correct model Select the correct combination of units the SERVOPACK qu Scal The setting of the linear scale ingar acae pitch Pn282 has not been Check the value of Pn282 Correct the value of Pn282 Pitch Setting changed from the default setting Error After executing the utility func A 0b0 tion to turn ON the power to the Turn the SERVOPACK power sup Cancelled Servo ON Command Alarm motor the servo ON command SV_ON was sent from the host controller ply OFF and then ON again or exe cute a software reset 1 Detection conditions If one of the following conditions is detected an alarm occurs Pn585 mm s Number of divisions of serial converter unit x Pn20E Linear scale pitch um Pn385 100 mm s 10 Pn210 Number of divisions of serial converter unit Pn20E Linear scale pitch um About 6 10 x 10 Pn210 Troubleshooting 8 7 8 8 8 Troubleshooting 8 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions
41. ive Actions 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 8 22 8 2 8 2 1 Warning Displays 8 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 8 2 1 List of Warnings The causes of warnings and troubleshooting methods are provided in 8 2 2 Troubleshooting of Warnings List of Warnings This section provides list of warnings Warning Number Warning Name Meaning Reset Position error exceeded the parameter settin 1 p 8 A 900 Position Error Overflow Pn520xPn51E 100 Required A 901 Position Error Overflow When the servomotor power is ON the position error exceeded Hemued 8 Alarm at Servo ON the parameter setting Pn526xPn528 100 3 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
42. l 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 A C20 Phase Detection Error The detection of the phase is incorrect Gr 1 N A A C21 Hall Sensor Error The hall sensor is faulty Gr 1 N A Phase Information A C22 Disagreement The phase information does not match Gr 1 N A A C50 Polarity Detection Error The polarity detection failed Gr 1 N A Overtravel Detection at The overtravel signal was detected at polarity detec Aes Polarity Detection tion gl Ayaiable Polarity Detection The servomotor was turned ON under the condition of AEA Uncompleted polarity detection uncompleted Se ARLERI Out of Range for Polarity The moving distance exceeded the set value of Pn48E ACE Detection during polarity detection G NA A C54 Polarity Detection Error 2 The polarity detection failed Gr 1 N A A C80 Absolute Encoder Clear The data for the absolute linear scale was not properly Gri N A Error cleared or set A C90 Encoder Communications Communications between the SERVOPACK and the Gri N A Error linear scale is not possible Encoder Communications si A C91 Position Data Error A linear scale position data calculation error occurred Gr 1 N A Encoder Communications An error occurs in the communications timer between TIMES Timer Error the linear scale and the SERVOPACK Mun as A CAO Encoder Parameter Error Linear
43. le layout so that no surge is applied 8 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor cont d Problem Probable Cause Investigative Actions Abnormal Noise from Servomotor cont d The FG potential varies because of influence from machines on the ser vomotor side such as the welder Check if the machines are correctly grounded SERVOPACK pulse counting error due to noise interference Check if there is noise interference on the I O signal line from the linear scale Excessive vibration and shock to the linear scale Check if vibration from the machine occurred or linear scale installation is incorrect mounting surface accu racy and fixing method Serial converter unit fault Corrective Actions Properly ground the machines to separate from the linear scale FG Take measures against noise in the linear scale wiring Reduce vibration from the machine or secure the linear scale installa tion Replace the serial converter unit A linear scale fault occurred Replace the linear scale Servomotor Vibrates at Frequency of Approx 200 to 400 Hz High Motor Speed Overshoot on Starting and Stopping 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 s
44. mission 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 E62 MECHATROLINK Communications error FCS error A E63 MECHATROLINK Synchronization Frame Not Received Alarm MECHATROLINK wiring is incorrect MECHATROLINK data recep tion error occurred due to noise interference Check the MECHATROLINK wir ings Correct the MECHATROLINK wir ing 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 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 fa
45. mission cycle setting proper value A E41 MECHATROLINK Communications Data 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 Reset the setting of the DIP switch S3 to change the number of trans mission bytes to the proper value A E42 MECHATROLINK Station 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 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
46. mmands for the MECHATROLINK II compatible profile send a Clear Warning or Alarm command ALM_CLR to clear the warning 8 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 8 2 Warning Displays Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description The servomotor U V Check the servomotor main circuit Coss that there ea tengo fault us in the motor wiring or linear scale wir and W wirings is faulty cable connection ing 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 A MECHATROLINK command or s 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 are Set the Pn520 to proper value if it is set to an appropriate value against the operating condition Turn the power supply OFF and then A SERVOPACK fault
47. n little endian byte order and displayed in the hexadecimal format 2 For details on commands refer to 2 V Series User 5 Manual MECHATROLINK III Standard Servo Pro file Commands No SIEP S800000 63 8 4 8 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 linear scale connection cables is disconnected Check the voltage between main circuit power terminals Check if the connector CN1 is prop Correct the connector CN1 connec erly inserted and connected tion Check the wiring Correct the wiring Correct the wiring Overloaded Run under no load and check the load status Reduce load or replace with larger capacity servomotor Linear scale type differs fr
48. ng to the setting in PnOOB 1 if an alarm occurs PnOOB 1 is factory set to stop the servomotor by setting the speed reference to 0 The servomotor under force 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 Alarm motor Alarm Number ANNES Ee Stopping Reset Method A 020 Parameter Checksum The data of the parameter in the SERVOPACK is Gri N A Error 1 incorrect A021 Parameter Format Efrori The data of the parameter in the SERVOPACK is Gr 1 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 resolution Pn281 is outside the Grl N A Setting Error setting range or does not satisfy the setting conditions A 042 Parameter Combination Combination of some parameters exceeds the setting Gri N A Error r
49. nother 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 force control Select a servomotor stop method other than coast to stop Select a servomotor stop method other than coast to stop Improper Stop Position by Overtravel 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 Troubleshooting 8 35 8 36 8 Troubleshooting cont d Problem Probable Cause Position Error Noise interference due to incorrect linear scale connection cable speci fications Noise interference due to length of linear scale connection cables Noise influence due to damaged lin ear scale connection cables Excessive noise to linear scale con nection cables Investigative Actions The linear scale connection 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 linear scale connection cables Check if the linear scale connection cables a
50. o see how many times the DB has been used Reconsider the following Reduce the motor reference speed Reduce the mass 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 z y y requently A SERVOPACK fault occurred Replace the SERVOPACK The surrounding air temperature Check the surrounding air tempera Wubi DRM E M des O is too high ture using 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 EE the method for resetting the too many times was reported A TAO 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
51. 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 Troubleshooting 8 19 8 20 8 Troubleshooting 8 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Cause Investigative Actions Corrective Actions Alarm Description MECHATROLINK wiringis Check the MECHATROLINK wir ue th MECHATROLINK wir OCOS E Connect the terminator correctly Take measures against noise Check A E60 MECHATROLINK data recep the MECHATROLINK communi MECHATROLINK Communications error Reception error 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 A E61 MECHATROLINK Transmission Cycle Error Synchronization interval error MECHATROLINK trans
52. om parameter setting Pn002 2 Check the settings for parameter Pn002 2 Set parameter Pn002 2 to the linear scale type being 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 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 HWBBI and HWBB2 input signal 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 A SERVOPACK fault occurred Replace the SERVOPACK The polarity detection is not exe cuted Check the parameter Pn080 0 Correct the setting of Pn080 0 Servomotor Moves Instantaneously and then Stops Servomotor wiring is incorrect Serial converter unit wiring is incor rect Linear scale wiring is incorrect Linear scale pitch Pn282 is incor rect
53. ondi 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 8 29 8 30 8 Troubleshooting 8 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 94LT 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 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 EEEF 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 8to 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 i
54. osition error alarm level Pn520 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 linear scale 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 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 mand Setting of the excessive position error alarm level Pn520 is low against the operating condition Check the alarm level Pn520 to see if it is set to an appropriate value Set the Pn520 to proper value 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 d01 Position Error Overflow Alarm at Servo ON This alarm occurs if the servomo 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
55. r supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b33 Current Detection Error 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 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 A b6b MECHATROLINK Communications ASIC Error 2 MECHATROLINK data recep tion error occurred due to noise interference SERVOPACK MECHA TROLINK communication sec tion fault 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 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 o
56. r than the motor maximum speed A 710 A 720 Overload A 710 High Load A 720 Low Load Incorrect wiring or contact fault of servomotor and linear scale Check the wiring Confirm that the servomotor and linear scale 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 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 The setting of the linear scale pitch Pn282 is incorrect Check the setting of Pn282 Correct the setting of Pn282 The setting of the motor phase selection Pn080 1 is incorrect Check the setting of Pn080 1 Correct the setting of Pn080 1 A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 730 A 731 Dynamic Brake Overload An excessive power consumption of dynamic brake was detected The servomotor moves because of external force Check the operation status Take measures to ensure the servo motor will not move because of external force The moving energy at a DB stop exceeds the DB resistance capac ity Check the power consumed by DB resistance Un00B t
57. rature 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 A linear scale fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the linear scale may be faulty Replace the linear scale 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 A 890 Encoder Scale Error A linear scale fault occurred The linear scale may be faulty Replace the linear scale A 891 Encoder Module Error A linear scale fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the linear scale may be faulty Replace the linear scale 8 13 8 14 8 Troubleshooting 8 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A b31 Current Detection Error 1 The current detection circuit for phase U 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 b32 Current Detection Error 2 The current detection circuit for phase V is faulty Turn the powe
58. re bent and the sheaths are damaged Check if the linear scale connection cables are bundled with a high cur rent line or near a high current line Corrective Actions Use the specified linear scale con nection cable The length of each cable must be equal to or shorter than the maxi mum wiring length listed here Connection cables for serial con verter unit 20 m Connection cables for linear scale 15 m Connection cables for hall sensor 15m Replace the linear scale connection cables and modify the cable layout Change the cable layout so that no surge is applied Properly ground the machines linear scale FG Take measures against noise in the serial converter unit wiring Reduce the machine vibration or mount the linear scale securely Use input signal cable with the specified specifications The I O signal cable length must be no more than 3 m Replace the linear scale Replace the SERVOPACK Reduce the ambient operating tem perature to 40 C or less Visually check the surface Clean dust and oil from the surface Without Alarm ahe FG potential VESS Beats Ot Check if the machines are correctly influence from machines on the ser xouhded vomotor side such as the welder 8 SERVOPACK pulse count error due Check if the 1 0 signal line from the serial converter unit is influenced to noise by noise Check if vibration from the machine Excessive vibrat
59. rm Description Cause Investigative Actions Corrective Actions A Cb0 Encoder Echoback Error The wiring and contact for linear scale connection cables are incor rect Check the wiring Correct the wiring Noise interference occurred due to incorrect cable specifications of linear scale connection cables Use tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of at least 0 12 mm2 Noise interference occurred because the wiring distance for the linear scale connection cables are too long The wiring distance must be 20 m max The FG potential varies because of influence from machines on the servomotor side such as the welder Check the cable layout for linear scale connection cables Properly ground the machines to separate from linear scale FG Excessive vibration and shocks were applied to the linear scale Check the operating environment Reduce the machine vibration or correctly install the linear scale A linear scale fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the linear scale may be faulty Replace the linear scale 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 d00 Position Error Overflow Position error exceeded the value set in the excessive p
60. set Method A E42 MECHATROLINK Station The setting ofthe MECHATROLINK station address Gr2 N A Address Setting Error is incorrect MECHATROLINK A synchronization error occurs during MECHA bales Synchronization Error TROLINK communications oY evel MECHATROLINK A synchronization failure occurs in MECHA cuu Synchronization Failed TROLINK communications Era evaluble A E60 pe ae Shee A communications error occurs continuously during Gr2 Availabl MECHATROLINK communications M s Reception error MECHATROLINK Transmission Cycle Error The transmission cycle fluctuates during MECHA AOA Synchronization interval TROLINK communications igs cule error MEGHATROCINK Communications error occurs continuously during A E62 Communications Error MECHATROLINK communications Gr 2 Available FCS error MES ROTM Synchronization frames are not received continuously ALEGE AAE a Maus during MECHATROLINK communications Sn evatlable A E71 Ed ag st dE Detection of the safety option module failed Gr 1 N A A E74 rie Y An unsupported safety option module was connected Gr 1 N A Unsupported Feedback An unsupported feedback option module was con AES Option Module nected Gei N A SERVOPACK Safety 2 A E81 Module Alarm DRV Alarm 2 A EA2 SERVOPACK WDC error A SERVOPACK DRV alarm 0 occurs Gr 2 Available A Eb1 a idu e The safety function signal input timing is faulty Gr 1 N A A EbO SERVOPACK Safety 2 Module Alarms i i i A ECO SERVOPACK S
61. setting of the pro gram JOG movement speed Pn585 Check if the detection conditions are satisfied Increase the setting of the program JOG movement speed Pn585 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 Decrease the setting of the elec tronic gear ratio Pn20E Pn210 A 04A Parameter Setting Error 2 A 050 Combination Error The SERVOPACK and servomotor capacities do not correspond 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 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 Reduce the total amount of bank data to 64 or less Select the proper combination of SERVOPACK and servomotor capacities A linear scale fault occurred Replace the linear scale and see if the alarm occurs again Replace the linear scale A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 051 Unsupported Device Alarm The parameters of the motor parameter file are not wr
62. sion applied to the motor coil assembly Take measures to reduce the exter nal force so that the speed feedback becomes 0 for a 0 detection refer ence If external force cannot be reduced increase the value of the changes in the sequence input signal allocation for each signal Pn481 The linear scale resolution is too low Check the linear scale pitch to see if itis within 100 um If the linear scale pitch is 100 um or longer the SERVOPACK cannot detect the correct speed feedback Use a scale pitch with higher accu racy a pitch within 40 um recom mended Or increase the value of the polarity detection reference speed Pn485 However note that increasing the value of Pn485 will widen the servomotor movement range required for polarity detec tion A C51 Overtravel Detection at Polarity Detection An overtravel signal was detected during polarity detection Check the position after overtravel Perform the wiring for an overtravel signal Execute polarity detection at a position where an overtravel sig nal is not detected A C52 Polarity Detection Uncompleted The servomotor has been turned ON under the following circum stances An absolute linear scale is being used The polarity detection selection for the absolute linear scale was set to not execute Pn587 0 0 Polarity was not yet detected When using an absolute linear scale set the parameter Pn587 0 to 1 to exe
63. t occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C20 Phase Detection Error The linear scale signal is weak Check the voltage of the linear scale signal Fine adjust the installation status of the linear scale head or replace the linear scale The count up direction of the lin ear scale does not match the for ward direction of the motor coil assembly Check the setting of Pn080 1 Motor Phase Selection Check the installation directions for the linear scale and motor coil assembly Change the setting of Pn080 1 Motor Phase Selection Correctly reinstall the linear scale and motor coil assembly The hall sensor signal is affected by noise Correct the FG wiring and take measures against noise for the hall sensor wiring A C21 Hall Sensor Error The hall sensor is protruding from the motor magnetic way Check the hall sensor Correctly reinstall the motor coil assembly or motor magnetic way The setting of the linear scale pitch Pn282 is incorrect Check the setting of the linear scale pitch Pn282 Check the specifications of the lin ear scale and correct the value of Pn282 The hall sensor wiring is incor rect Check the hall sensor wiring Correct the hall sensor wiring A hall sensor fault occurred Replace the hall sensor A C22 Phase Information Disa
64. t there is no surge volt age on the cables The FG potential varies because of influence from machines on the servomotor side such as the welder Check the cable layout for linear scale connection cables Properly ground the machines to separate from the linear scale FG Noise interference occurred on the I O signal line from the linear scale Take countermeasures against noise for the linear scale wiring Excessive vibration and shocks were applied to the linear scale Check the operating environment Reduce the machine vibration or correctly install the linear scale A C92 Encoder Turn the power supply OFF and Communications A linear scale fault occurred i then ON sam the alarm stil Timer Error occurs the linear scale may be faulty Replace the linear scale 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 Turn the power supply OFF and A linear scale fault occurred HETON aR po uuu ACAO occurs the linear scale may be Encoder Parameter Error Troubleshooting faulty Replace the linear scale 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 8 17 8 18 8 Troubleshooting 8 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Ala
65. tio becomes within the allowable value or increase the load level or lower the tuning level for the tun ing less levels setting Fn200 Check if there are any loose mount Tighten the mounting screws ing screws 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 Contact the machine manufacturer Use the specified I O signal cable Check the length of the I O signal The I O signal cable length must be cable no more than 3 m The linear scale connection cables 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 linear scale connection cables Check if the linear scale connection cables are bent and the sheaths are damaged Check if the linear scale connection cables are bundled with a high cur rent line or near a high current line Use the specified linear scale con nection cables The length of each cable must be equal to or shorter than the maxi mum wiring length listed here Connection cables for serial con verter unit 20 m Connection cables for linear scale 15 m Connection cables for hall sensor 15m Replace the linear scale connection cables and correct the cable layout Correct the cab
66. tor speed Check for abnormal noise from the servomotor and check the speed and force waveforms during opera tion Reduce the motor speed or reduce the speed loop gain Pn100 The mass ratio Pn103 value is greater than the actual value or is greatly changed Check the mass ratio Set the mass 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 mass ratio falls within the allowable value or raise the load level using the tuning less levels setting Fn200 or reduce the rigidity 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 Troubleshooting 8 11 8 12 8 Troubleshooting 8 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 550 Maximum Speed Setting Error The Pn385 setting is greater than the maximum speed Check the value of Pn385 and Un010 Monitor for allowable motor maximum speed and encoder output resolution Set Pn385 to a value equal to or lowe
67. ty Replace the SERVOPACK Troubleshooting 8 9 8 10 8 Troubleshooting 8 1 2 Troubleshooting of Alarms 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 req
68. uired 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 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 SERVOPACK s with DC power supply input The DC power supply voltage exceeded 410 V For 400 VAC SERVOPACK s 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 force during opera tion Set AC power supply voltage within the specified range The extern
69. ulty Replace the SERVOPACK A ET1 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 8 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 feedback option module fault Replace the feedback option mod A E75 occurred ule Unsupported rum h i f Feedback Option A unsupported feedback option SIME k n Fi E the d Connect a compatible feedback Module module was connected nected teedbac lt ophion mog le or option module the manual of the SERVOPACK MECHATROLINK transmission Check the MECHATROLINK R
70. 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 PnO0B 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 27 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 CPF00 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 Troubleshooting Keep the digital operator or the cable away from noise sources 2 These alarms are not stored in the alarm history and are displayed only in the panel display 8 21 8 Troubleshooting 8 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Correct

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

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

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