1.1 AC Servo Drives ∑-V Series Troubleshooting USER`S MANUAL
Contents
1. Excessive vibration and shock to the encoder An encoder fault occurred Investigative Actions The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mn min Check if the encoder cable is bun dled with a high current line or near a high current line Check if the machines are correctly grounded Check if there is noise interference on the I O signal line from the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc A SERVOPACK fault occurred The pulse count does not change Host controller multiturn data read ing error Check the error detection section of the host controller Corrective Actions Use the specified encoder cable Check the length of the encoder The encoder cable must be no more cable than 50 m Check if the encoder cable is bent Replace the encoder cable and cor and the sheath is damaged rect the cable layout Correct the cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG on the encoder side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replace the servomotor Replace the SERVOPACK Correct the error detection section of the host contr2. ON power terminals The main circuit power supply is Check the voltage between main not ON circuit power terminals Check if the connector CN1 is prop Correct the connector CN1 connec erly inserted and connected tion Correct the wiring Correct the wiring cable or encoder cable is discon Check the wiring nected Overloaded Run under no load and check the load status Reduce load or replace with larger capacity servomotor Encoder type differs from parame ter setting Pn002 2 Speed position references not input Settings for the input signal selec tions Pn50A to Pn50D is incor rect Check the settings for parameter Pn002 2 Check the allocation status of the input signals Check the settings for parameters Pn50A to Pn50D Set parameter Pn002 2 to the encoder type being used Allocate input signals so that the speed position reference is input correctly Correct the settings for parameter Pn50A to Pn50D Servo ON signal S ON stays OFF Check the settings for parameters Pn50A 0 and Pn50A 1 Set the parameters Pn50A 0 and Pn50A 1 to turn the S ON signal ON P CON input function setting is incorrect Check the settings for parameter Pn000 1 Set parameters to match the applica tion SEN input is OFF Check the ON OFF status of the SEN input If using an absolute encoder turn the SEN input signal ON Referenc
3. Reconsider the load conditions and overload protection rni Tee O ve rioad characteris operating conditions Or increase the A 910 em tics and executed run command i characteristics motor capac ty Overload i Warning before Excessive load was alarm A 710 or applied during opera l A 720 occurs tion because the servo Check the executed operation refer Remove the mechanical problems motor was not driven due to mechanical prob lems ence and motor speed A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK Troubleshooting 10 21 10 Troubleshooting 10 2 2 Troubleshooting of Warnings 10 22 cont d Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description Abnormal vibration was Check for abnormal noise from the Reduce the motor speed or reduce the detected at the motor servomotor and check the speed and servo gain by using the function such speed torque waveforms during operation as one parameter tuning a The moment of inertia IDpratuon pane E102 value 15 PEA E Set the moment of inertia ratio greater than the actual Check the moment of inertia ratio Pn103 to an appropriate value value or is greatly changed The power supply volt Set the power supply voltage within age exceeds the speci Measure the power supply voltage A fied limit the specified rang
4. A E71 Safety Option Module Detection Failure The connection between the SERVOPACK and the safety option module is faulty Check the connection between the SERVOPACK and the safety option module Correctly connect the safety option module The safety option module was disconnected Execute Fn014 Resetting configu ration error of option module with using the digital operator or Sig maWin and turn the power supply OFF and then ON again A safety option module fault occurred Replace the safety option module A SERVOPACK fault occurred Replace the SERVOPACK 10 18 10 1 Alarm Displays cont d Alarm Number Alarm Name Cause Investigative Actions Corrective Actions Alarm Description The connection between the Check the connection between the Correctly connect th Feedback SERVOPACK and the Feedback SERVOPACK and the Feedback Snaco Medale TIE oae Option Module is Faulty Option Module ES A E72 Execute resetting configuration Feedback Option The Feedback Option Module B error in option modules Fn014 and Module Detection was disconnected turn the power supply OFF and then Failure ON again A Feedback Option Module fault Replace the Feedback Option Mod occurred ule A SERVOPACK fault occurred Replace the SERVOPACK A E74 adi Hor aequ equ Replace the safety option module Unsupported Safety Option Module A unsupported safety op
5. Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 100 Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT or heat sink of SERVO PACK overheated Incorrect wiring or contact fault of main circuit cables Check the wiring Refer to 3 7 Main Circuit Wiring Correct the wiring Short circuit or ground fault of main 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 6 Con necting Regenerative Resistors Correct the wiring The dynamic brake DB Emer
6. cated in Pn50A 3 Pn50A 3 allocate P OT Check if the N OT signal is allo If another signal is allocated in cated in Pn50B 0 Pn50B 0 allocate N OT Troubleshooting Incorrect servomotor stop method selection Check the settings for parameters Pn001 0 and Pn001 1 when the ser vomotor power is OFF Select a servomotor stop method other than coast to stop Check the settings for parameters Pn001 0 and Pn001 1 when in torque control Select a servomotor stop method other than coast to stop 10 27 10 Troubleshooting cont d Problem Probable Cause Investigative Actions Corrective Actions Improper Stop Po sition by Overtrav el OT Signal Improper limit switch position and dog length Install the limit switch at the appropriate position The overtravel limit switch position is too short for the coasting distance Position Error Without Alarm Noise interference due to incorrect encoder cable specifications Noise interference due to length of encoder cable Noise influence due to damaged encoder cable Excessive noise to encoder cable The FG potential varies because of influence from machines on the ser vomotor side such as the welder SERVOPACK pulse count error due to noise Excessive vibration and shock to the encoder Unsecured coupling between machine and servomotor Noise interference due to improper I O si
7. gency stop executed from the SERVOPACK was frequently activated or the DB overload alarm occurred Check the power consumed by DB resistance Un00B to see how many times the DB has been used Or check the alarm history display Fn000 to see if the DB overload alarm A 730 or A 731 was reported Change the SERVOPACK model operating conditions or the mecha nism so that the DB does not need to be used so 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 Ta
8. A 710 A 720 Overload A 710 High Load A 720 Low Load Incorrect wiring or contact fault of servomotor and encoder Check the wiring Confirm that the servomotor and encoder are correctly wired Operation beyond the overload protection characteristics Check the servomotor overload characteristics and executed run command Reconsider the load conditions and operating conditions Or increase the motor capacity Excessive load was applied dur ing operation because the servo motor was not driven due to mechanical problems Check the executed operation refer ence and motor speed Remove the mechanical problems A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 730 A 731 Dynamic Brake Over load An excessive power consumption of dynamic brake was detected The servomotor rotates because of external force Check the operation status Take measures to ensure the servo motor will not rotate because of external force The rotating energy at a DB stop exceeds the DB resistance capac ity Check the power consumed by DB resistance Un00B to see how many times the DB has been used Reconsider the following Reduce the motor reference speed Reduce the moment of inertia ratio Reduce the number of times of the DB stop operation A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 7
9. Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A d00 Position Error Over flow Position error exceeded the value set in the excessive position error 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 encoder wiring The frequency of the position ref erence pulse is too high Reduce the reference pulse fre quency and operate the SERVO PACK Reduce the position reference pulse frequency or acceleration of posi tion reference Or reconsider the electronic gear ratio The acceleration of the position reference is too high Reduce the reference acceleration and operate the SERVOPACK Apply the smoothing function such as using position reference accelera tion deceleration time constant Pn216 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 Over flow Alarm at Servo ON This alarm occurs if the servomo tor power is turned ON when
10. Malfunction Based on Operation and Conditions of the Servomotor cont d Problem Probable Cause Investigative Actions Corrective Actions Servomotor Moves Instanta neously and then Stops Servomotor wiring is incorrect Encoder wiring is incorrect Servomotor Speed Unstable Servomotor Ro tates Without Ref erence Input Wiring connection to servomotor is defective Speed control Speed reference input is incorrect Check connections of power line phases U V and W and encoder connectors Check V REF and SG to confirm if the control method and the input are agreed Tighten any loose terminals or con nectors and correct the wiring Correct the control method selec tion parameter and the input signal Torque control Torque reference input is incorrect Check V REF and SG to confirm if the control method and the input are agreed Correct the control method selec tion parameter and the input signal Speed reference offset is incorrect The SERVOPACK offset is Adjust the SERVOPACK offset adjusted incorrectly Position control Reference pulse input is incorrect A SERVOPACK fault occurred Check the reference pulse form Correct the control method selec Pn200 0 and sign pulse signal tion parameter and the input signal Replace the SERVOPACK Dynamic Brake Does Not Operate Improper Pn001 0 setting Check the setting for parame
11. OPACR rault ogcutted aps occurs the SERVOPACK may be faulty Replace the SERVOPACK The order of phases U Vand bd Confirm that the servomotor is cor in the servomotor wiring is incor Check the motor wiring rectly wired rect A C10 If the alarm still occurs after turning Servo Overrun Detect ed Detected when the servomotor power is ON An encoder fault occurred the power OFF and then ON again even though the servomotor is cor rectly wired the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C80 Absolute Encoder Clear Error and Multi turn Limit Setting Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Troubleshooting 10 15 10 Troubleshooting 10 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions Contact fault of connector or incorrect wiring for encoder cable Check the connector contact status for encoder cable Re insert the connector and confi
12. These alarms occur in SERVOPACKs with safety modules For details refer to 2 V Series User s Manual Safety Module No SIEP C720829 06 3 These alarms are not stored in the alarm history and are displayed only in the panel display Troubleshooting 10 5 10 6 10 Troubleshooting 10 1 2 Troubleshooting of Alarms 10 1 2 Troubleshooting of Alarms If an error occurs in servo drives an alarm display such as A LILILI and CPFLILI will appear on the panel operator Refer to the following table to identify the cause of an alarm and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described corrective action Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 020 Parameter Checksum Error 1 The parameter data in the SERVOPACK is incorrect A 021 Parameter Format Er ror 1 The 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 chang
13. above the maxi Gel Available mum rotational speed The pulse output speed upper limit of the Overspeed of Encoder g A 511 Output Pulse Rate set encoder output pulse Pn212 is Gr 1 Available exceeded L H L A 520 Vibration Alarm Incorrect vibration at the motor speed was Grl Available detected A 521 Autotuning Alarm Vibration was detected while performing Grl Available tuning less function The servomotor was operating for several A 710 Overload High Load seconds to several tens of seconds under a Gr 2 Available torque largely exceeding ratings A 720 Overload Low Load The SEIVOMOLOT bois s erating contmucusly Gr 1 Available under a torque exceeding ratings A 730 When the dynamic brake was applied rota 3 Dynamic Brake Overload tional energy exceeded the capacity of Gr 1 Available A 731 d bo La redant L L L ynamic brake resistor Overload of Surge The main circuit power was frequently AD Current Limit Resistor turned ON and OFF SE Available A 7A0 Heat Sink Overheated The heat sink of the SERVOPACK Gr2 Available exceeded 100 C Built in Fan in rom A 7AB SERVOPACK Stopped The fan inside the SERVOPACK stopped Gr 1 Available A810 Encoder Backup Error The power supplies to the encoder all failed Gai N A and position data was lost A820 Encoder Checksum Eme The checksum results of encoder memory is Grl N A incorrect The battery voltage was lower than the A 830 a Fncoger Battery specified value after the control power su
14. 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 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
15. gains have been correctly adjusted Execute the advanced autotuning Speed loop gain value Pn100 too high Check the speed loop gain Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 Position loop gain value Pn102 too high Check the position loop gain Pn102 Factory setting Kp 40 0 s Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant Pn101 Incorrect moment of inertia ratio data Pn103 Check the moment of inertia ratio Pn103 Correct the moment of inertia ratio Pn103 10 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor cont d Problem Probable Cause Absolute Encod er Position Differ ence Error The position saved in the host controller when the power was turned OFF is different from the position when the power was next turned ON Noise interference due to incorrect cable specifications of encoder cable Noise interference due to length of encoder cable Noise interference due to damaged encoder cable Excessive noise to the encoder cable FG potential varies because of influence of machines such as weld ers at the servomotor SERVOPACK pulse counting error due to noise interference
16. if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Servomotor Vi brates at Fre quency of Approx 200 to 400 Hz Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Corrective Actions Replace the encoder cable and cor rect the cable layout Correct the cable layout so that no surge is applied Properly ground the machines to separate from the encoder FG Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replace the servomotor Execute the advanced autotuning Speed loop gain value Pn100 too high Position loop gain value Pn102 too high Incorrect speed loop integral time constant Pn101 Incorrect moment of inertia ratio Pn103 Check the speed loop gain Pn100 Factory setting Kv 40 0 Hz Check the position loop gain Pn102 Factory setting Kp 40 0 s Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Check the moment of inertia ratio Pn103 Reduce the speed loop gain Pn100 Reduce the position loop gain Pn102 Correct the speed loop integral time constant Pn101 Correct the moment of inertia ratio Pn103 High Motor Speed Overshoot on Starting and Stop ping Unbalanced servo gains Check to see if the servo
17. is factory set to stop the servomotor by setting the speed reference to 0 The servomotor under torque control will always use the Gr 1 method to stop By setting 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 BM 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 Code Output motor Alarm Alarm Alarm Name Meanin Stop Number d ping Reset ALO1 ALO2 ALOS Method Parameter Checksum The data of the parameter in the SERVO xU Error 1 PACK is incorrect GT NS A 021 Parameter Format Error 1 ane data orm parameter in ne SEO Gr 1 N A PACK is incorrect A 022 System Checksum Error 1 The aan pe parameter im the SERVO Gr 1 N A PACK is incorrect A 030 Main Circuit Detector Error Detection data for main circuit is incorrect Gr 1 Available A 040 Parameter Setting Error 1 B aram tersettingis Outside th setting Gr 1 N A The encoder output pulse Pn212 is outside A 041 EE Pulse the setting range or does not satisfy the set Gr 1 N A 9 ting conditions H H H A 042 Parameter Combination Combination of some parameters exceeds Grl N A Error the setting range Semi closed Fully closed A 044 Loop Control Parameter Thie settings of the option moduleand Gr 1 N A r
18. speed is higher than 200 min when the control power supply was turned ON Check the motor rotating speed Un000 to confirm the servomotor speed when the power is turned ON Reduce the servomotor speed to a value less than 200 min and turn ON the control power supply An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Troubleshooting 10 13 10 Troubleshooting 10 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 860 Encoder Overheated Only when an absolute encoder is connected Detected on the encoder side The ambient operating tempera ture around the servomotor is too high Measure the ambient operating tem perature around the servomotor The ambient operating temperature must be 40 C or less The motor load is greater than the rated load Check the accumulated load ratio Un009 to see the load The motor load must be within the specified range An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the serv
19. 10 Troubleshooting 10 1 Alarm Displays vm aci ia aa a a A a a a a 10 2 10 1 1 Listof Alarms 2 2 eici solle nr erem ede ees eere grs 10 2 10 1 2 Troubleshooting of Alarms sslseeee II 10 6 10 2 Warning Displays 1 oti e anita cn trace Cer bot s eee ales 10 20 10 2 1 Listof Warnings ier mee tend nre t eet eene ni os 10 20 10 2 2 Troubleshooting of Warnings lisse IIR 10 21 10 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 0 00 ccc eee ees 10 24 5 Troubleshooting 10 1 10 2 10 Troubleshooting 10 1 1 List of Alarms 10 1 10 1 1 Alarm Displays The following sections describe troubleshooting in response to alarm displays The alarm name alarm meaning alarm stopping method alarm code output and alarm reset capability are listed in order of the alarm numbers in 70 1 1 List of Alarms The causes of alarms and troubleshooting methods are provided in 0 2 Troubleshooting of Alarms List of Alarms This section provides list of alarms E Servomotor Stopping Method If an alarm occurs the servomotor can be stopped by doing either of the following operations Gr 1 The servomotor is stopped according to the setting in Pn001 0 if an alarm occurs Pn001 0 is factory set to stop the servomotor by applying the DB Gr 2 The servomotor is stopped according to the setting in PnOOB 1 if an alarm occurs PnOOB 1
20. 13 at the occurrence of Multiturn Limit Dis the SERVOPACK Or the multi SERVOPACK A agreement turn limit value of the SERVO f PACK has been changed Turn the power supply OFF and then ON again If the alarm still A SERVOPACK fault occurred occurs the SERVOPACK may be faulty Replace the SERVOPACK Wiring of cable between serial converter unit and SERVOPACK Check the external encoder wiring Correct the cable wiring is incorrect or contact is faulty The specified cable is not used A CF1 between serial converter unit and MARET external encoder wir Use the specified cable Feedback Option SERVOPACK ing specifications Module Communica tions Error Cable between serial converter Reception error unit and SERVOPACK is too long Measure the length of this cable Use 20 m cable max Sheath of cable between serial converter unit and SERVOPACK is broken Check the cable for damage Replace the cable A CF2 Feedback Option Module Communica tions Error Timer stop Noise interferes with the cable between serial converter unit and SERVOPACK Correct the wiring around serial converter unit e g separating I O signal line from main circuit cable or grounding Troubleshooting A serial converter unit fault occurred Replace the serial converter unit A SERVOPACK fault occurred Replace the SERVOPACK 10 17 10 Troubleshooting 10 1 2 Troubleshooting of
21. 40 Overload of Surge Current Limit Resistor The main circuit power The inrush current limit resistor operation frequency at the main circuit power supply ON OFF operation exceeds the allowable range Reduce the frequency of turning the main circuit power supply ON OFF is turned ON OFF too The SERVOPACK may be faulty fi tly y y requently A SERVOPACK fault occurred Replace the SERVOPACK The surrounding air temperature Check the surrounding air tempera as a bat Ue 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 KON the tiethod for tesettmg the too many times was reported i A 7A0 Check the accumulated load ratio Heat Sink Overheated Excessive load or operation Un009 to see the load during oper Detected when the heat sink temperature exceeds 100 C beyond the regenerative energy processing capacity ation and the regenerative load ratio Un00A to see the regenera tive energy processing capacity Reconsider the load and operating conditions Incorrect SERVOPACK installa tion orientation or and insuffi cient space around the SERVOPACK Check the SERVOPACK installa tion conditions Install the SERVOPACK correctly as specified A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 7A
22. B Built in Fan in SER VOPACK Stopped The fan inside the SERVOPACK stopped Check for foreign matter or debris inside the SERVOPACK Remove foreign matter or debris from the SERVOPACK If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK 10 12 10 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 810 Encoder Backup Error Only when an absolute encoder is connected Detected on the encoder side Alarm occurred when the power to the absolute encoder was ini tially turned ON Check to see if the power was turned ON initially Set up the encoder Fn008 The encoder cable disconnected and connected again Check to see if the power was turned ON initially Confirm the connection and set up the encoder Fn008 The power from both the control power supply 5 V from the SERVOPACK and the battery power supply is not being sup plied Check the encoder connector bat tery or the connector contact status Replace the battery or take similar measures to supply power to the encoder and set up the encoder Fn008 An absolute encoder fault occurred If the alarm cannot be reset by set ting up the encoder again replace the servomotor A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 820 Encoder Checksum Er
23. I O signal cable length Install the overtravel limit switch at the appropriate position Use the specified encoder cable The encoder cable must be no more than 50 m Change the cable layout so that no surge is applied Properly ground the machines encoder FG Reduce the machine vibration or mount the servomotor securely Secure the coupling between the machine and servomotor Use input signal cable with the specified specifications Use input signal cable that satisfy specifications The I O signal cable length must be no more than 3 m Replace the servomotor A SERVOPACK fault occurred Replace the SERVOPACK Servomotor Over heated Ambient operating temperature too high Servomotor surface dirty Servomotor overloaded Measure the servomotor ambient operating temperature Visually check the surface Check the load status with monitor Reduce the ambient operating tem perature to 40 C or less Clean dust and oil from the surface If overloaded reduce load or replace with larger capacity SER VOPACK and servomotor 10 28
24. Input The A D converter for torque reference EU Read Error input is faulty arz Available A b31 Current Detection Error 1 D po detection circuit f r phase U ig Gr 1 N A A b32 Current Detection Error 2 e YE detection Circuit f r phase V is Gr 1 N A A b33 Current Detection Error 3 E all inept TONS ues Gr 1 N A H H H Internal program error 0 of the SERVO A bFO System Alarm 0 PACK occurred Gr 1 N A Internal program error 1 of the SERVO A bF1 System Alarm 1 PACK occurred Gr 1 N A Internal program error 2 of the SERVO A bF2 System Alarm 2 PACK occurred Gr 1 N A Internal program error 3 of the SERVO A bF3 System Alarm 3 PACK occurred Gr N A Internal program error 4 of the SERVO A bF4 System Alarm 4 PACK occurred Gr 1 N A A C10 Servo Overrun Detected The servomotor ran out of control Gr 1 Available Absolute Encoder Clear A C80 Error and Multiturn Limit The multum for the absolute encoder was Gs N A Setting Error propery Encoder Communications Communications between the SERVO GERM Error PACK and the encoder is not possible m as Encoder Communications An encoder position data calculation error ie Position Data Error occurred Gra NA ops An error occurs in the communications A C92 Encoder communications timer between the encoder and the SERVO Gr 1 N A Timer Error PACK L H L A CAO Encoder Parameter Error Encoder parameters are faulty Gr 1 N A A Cb0 Encoder Echoback Error Contents of communica
25. Pn00B 3 Pn002 3 do not match Setting Error A 050 Combination Error The SERVOPACK and the servomotor Gr 1 Available capacities do not match each other A 051 Unsupported Device Alarm The device unsupported was connected Gr 1 N A The servo ON signal S ON was sent from A 0b0 canceled sene ON the host controller after executing a utility Gr 1 Available Command Alarm i function that turns ON servomotor 7 An overcurrent flowed through the IGBT or A109 Overcurrent or Heat Sink he heat sink of the SERVOPACK wasover Gri N A L H H Overheated heated 10 1 Alarm Displays cont d Servo Alarm Code Output motor Alarm Alarm Alarm Name Meanin Stop Number I ping Reset aLot ALO2 aLo3 Method A300 Regeneration Error Regenerative circuit or regenerative resistor Grl Available is faulty A 320 Regenerative Overload Regenerative energy exceeds regenerative Gr2 Availale L L H resistor capacity Main Circuit Power Setting of AC input DC input is incorrect ASD Supply Wiring Error Power supply wiring is incorrect um Avalablg A 400 Overvoltage s circuit DC voltage is excessively Gr Available A 410 Undervoltage Main circuit DC voltage is excessively low Gr 2 Available H H L Main Circuit The capacitor of the main circuit has deteri AGO Capacitor Overvoltage orated or is faulty grl NS A 510 Overspeed The servomotor speed is
26. S or T SERVOPACK to 1 single phase phase power supply Detected when the main power supply was turned ON A SERVOPACK fault occurred Check the power supply and the Match the parameter setting to the parameter setting power supply Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK 2 FL 1 Turn the power supply OFF and System Alarm then ON again If the alarm still FLZ RE es occurs the SERVOPACK may be System Alarm z faulty Replace the SERVOPACK The contact between the digital Insert securely the connector or CPFO00 Pid and the SERVOPACK is Check the connector contact replace the cable Digital Operator aulty Transmission Error 1 Malfunction caused by noise B Keep the digital operator or the interference cable away from noise sources Disconnect the digital operator and A digital operator fault occurred then re connect it If the alarm still CPF01 i occurs the digital operator may be faulty Replace the digital operator Troubleshooting Digital Operator Transmission Error 2 Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A SERVOPACK fault occurred 2 These alarms are not stored in the alarm history and are displayed only in the panel display 10 19 10 Troubleshooting 10 2 1 List o
27. ake Overload A 731 occurs If the warning is ignored and operation contin H L H ues a dynamic brake overload alarm may occur Absolute Encoder Battery This warning occurs when the voltage of absolute encoder s A 930 L L H Error battery is lowered A 941 Change ot Parameters Parameters that require the restart have been changed H H L Requires Restart i This warning occurs before undervoltage alarm A 410 occurs A 971 Undervoltage If the warning is ignored and operation continues an undervolt L L L age alarm may occur A 9A0 Overtravel Overtravel is detected while the servomotor power is ON H L L Note 1 Warning code is not output without setting Pn001 3 1 outputs both alarm codes and warning codes 2 If Pn008 2 1 does not detect warning is selected no warnings will be detected except for an undervoltage warning A 971 10 2 2 Troubleshooting of Warnings 10 2 Warning Displays Refer to the following table to identity the cause of a warning and the action to be taken Contact your Yaskawa representative 1f the problem cannot be solved by the described corrective action Warning Num ber Warning Name Warning Cause Investigative Actions Corrective Actions Description The servomotor U V Check the servomotor main circuit Confirm that there is no contact fault and W wirings is faulty cable connection in the motor wiring or encoder wiring The SERVOPACK gain Check the SERVOPACK gain Increas
28. al varies because of influence from machines on Check the cable layout for encoder Properly ground the machines to the servomotor side such as the cable separate from the encoder FG welder Noise interference occurred on Take countermeasures against noise the I O signal line from the ee for the encoder wiring encoder Excessive vibration and shocks 2 Reduce the machine vibration or Check the operating environment were applied to the encoder correctly install the servomotor A C92 Encoder Communica tions Timer Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CAO Encoder Parameter Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK 10 16 10 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A Cb0 Encoder Echoback Er ror The wiring and contact for encoder
29. cable are incorrect Check the wiring Correct the wiring Noise interference occurred due to incorrect cable specifications of encoder cable Noise interference occurred because the wiring distance for the encoder cable is too long Use tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of at least 0 12 mm The wiring distance must be 50 m max The FG potential varies because of influence from machines on the servomotor side such as the welder Check the cable layout for encoder cable Properly ground the machines to separate from encoder FG Excessive vibration and shocks were applied to the encoder Check the operating environment Reduce the machine vibration or correctly install the servomotor An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK When using a direct drive DD servomotor the multiturn limit value Pn205 is different from that of the encoder Check the value of the Pn205 Correct the setting of Pn205 0 to 65535 The multiturn limit value of the OD anes Encoders difterent from that oF Check the value of the Pn205 of the Execute Fn0
30. e Insufficient external regenerative resistance Change the regenerative resistance A 920 regenerative resistor SA regenerative resistor capacity or SER Regenerative capacity or SERVO pane op FE pei us VOPACK capacity Reconsider the Overload PACK capacity capacity EIU cApa seiecuon operating conditions using the capac Software SigmaJunmaSize etc Warning before Or regenerative power ity selection software SigmaJunma the alarm A 320 has been continuously Size etc occurs flowing back Regenerative power continuously flowed Check ihelsadto theserv motor dit Reconsider the system including servo back because negative iio operation drives machine and operating condi load was continuously 8 Op tions applied The servomotor rotates Take measures to ensure the servomo because of external Check the operation status tor will not rotate because of external force force DRAN Brake Reconsider the following DS oad The rotating energy at a Check the power consumed by DB Reduce the motor reference speed Warning before DB stop exceeds the DB resistance Un00B to see how many Reduce the moment of inertia ratio the alarm A731 resistance capacity times the DB has been used Reduce the number of times of the occurs DB stop operation A SERVOPACK fault The SERVOPACK may be faulty occurred Replace the SERVOPACK A 930 The battery connection Absolute Encod er Battery Error The absolute enc
31. e SERVOPACK A b32 Current Detection Er ror 2 The current detection circuit for phase V is faulty Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b33 Current Detection Er ror 3 The detection circuit for the cur rent is faulty Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK The servomotor main circuit cable is disconnected Check for disconnection of the ser vomotor main circuit cable Correct the servomotor wiring A bFO System Alarm 0 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF 1 System Alarm 1 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF2 System Alarm 2 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF3 System Alarm 3 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Turn the power supply OFF and A bF4 then ON again If the alarm still System Alarm 4 A SERV
32. e pulse mode selection is incorrect Check the Pn200 0 setting and the reference pulse form Match the Pn200 0 setting and the reference pulse form Speed control Speed reference input is incorrect Check V REF and SG to confirm if the control method and the input are agreed Correct the control method selec tion parameter and the input signal Torque control Torque reference input is incorrect Check V REF and SG to confirm if the control method and the input are agreed Correct the control method selec tion parameter and the input signal Position control Reference pulse input is incorrect Check Pn200 0 reference pulse form and sign pulse signal Correct the control method selec tion parameter and the input signal Position error clear CLR input has not been turned OFF Check CLR input signals CN1 14 and 15 Turn CLR input signals OFF 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 HWBBI or HWBB2 remains OFF Check the HWBBI and HWBB2 input signal Set the HWBBI 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 10 3 Troubleshooting
33. e the servo gain by using the is too low function such as advanced autotuning The frequency of the Reduce the position reference pulse oi ane E ulse Reduce the reference pulse frequency frequency or acceleration of position d too high P and operate the SERVOPACK reference Or reconsider the elec Eu tronic gear ratio A 900 The acceleration of the Apply the smoothing function such as Position Error ositioni teferen e is too Reduce the reference acceleration and using the position reference accelera Overflow jit h operate the SERVOPACK tion deceleration time constant BS Pn216 Setting of the excessive position error alarm level Pn520 is low vee tie alaen level Pn520 VUES Set the Pn520 to proper value against the operating if it is set to an appropriate value condition Turn the power supply OFF and then A SERVOPACK fault ON again If the alarm still occurs the occurred SERVOPACK may be faulty Replace the SERVOPACK A901 When the servomotor Set Pn200 2 to 0 to clear the number Position Error Overflow Alarm power is ON the posi tion error exceeded the parameter setting of position error while the servomotor power is OFF Or set an appropriate value for the excessive position error AL SENO ON Pn526xPn528 100 warning level at servo ON Pn528 Incorrect wiring or con tact fault of servomotor Check the wiring COURS aes servomotor and encoder are correctly wired and encoder Operation beyond the
34. ed through the host controller The SERVOPACK may be faulty Replace the SERVOPACK Reconsider the method of writing parameters Malfunction caused by noise from the AC power supply or grounding line static electricity noise etc Turn the power supply ON and OFF several times If the alarm still occurs there may be noise interfer ence Take countermeasures against noise Gas water drops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SERVOPACK A SERVOPACK fault occurred The software version of SERVO PACK that caused the alarm is older than that of the written parameter Turn the power supply ON and 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 ETE RACIO 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 Er The power supply we
35. erative resistance to a correct value or use an external regenerative resistor of appropriate capacity A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK Troubleshooting 10 9 10 Troubleshooting 10 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
36. external encoder encoder occurred Overheated A b10 A malfunction occurred in the E Clear and reset the alarm and restart Speed Reference A D Error Detected when the speed reference input section the operation A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be is ON SEND faulty Replace the SERVOPACK A malfunction occurred in the N Clear and reset the alarm and restart Abit speed reference input section the operation Speed Reference A D DN power d c m Data Error E then again If the alarm sti A SERVOPACK fault occurred occurs the SERVOPACK may be faulty Replace the SERVOPACK A malfunction occurred in the A b20 reading section of the torque ref Clear and reset the alarm and restart the operation Reference Torque In put Read Error Detected when the erence input Turn the power supply OFF and then ON again If the alarm still A SERVOPACK fault occurred servo is ON occurs the SERVOPACK may be faulty Replace the SERVOPACK 10 14 10 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A b31 Current Detection Er ror 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 th
37. f Warnings 10 20 10 2 Warning Displays 10 2 1 The following sections describe troubleshooting in response to warning displays The warning name warning meaning and warning code output are listed in order of the warning numbers in 10 2 1 List of Warnings The causes of warnings and troubleshooting methods are provided in 0 2 2 Troubleshooting of Warnings List of Warnings This section provides list of warnings i Warning Code Output a Warning Name Meaning 3 E umber ALO1 ALO2 ALO3 m Position error exceeded the parameter setting A 900 Position Error Overflow Pn520xPn51E 100 H H H A 901 Position Error Overflow When the servomotor power is ON the position error exceeded H H H i Alarm at Servo ON the parameter setting Pn526xPn528 100 This warning occurs before the overload alarms A 710 or A 910 Overload A 720 occur If the warning is ignored and operation contin L H H ues an overload alarm may occur Abnormal vibration at the motor speed was detected The A 911 Vibration detection level is the same as A 520 Set whether to output an L H H 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 H L H ues a regenerative overload alarm may occur This warning occurs before dynamic brake overload alarm A 921 Dynamic Br
38. gnal cable specifications Ifthe reference pulse input multipli cation switching function is being used noise may be causing the I O signals PSEL and PSELA used for this function to be falsely detected Noise interference due to length of I O signal cable An encoder fault occurred The pulse count does not change The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm min Check the length of the encoder cable Check if the encoder cableis bent Replace the encoder cable and mod and the sheath is damaged ify the cable layout Check if the encoder cable is bun dled with a high current line or near a high current line Check if the machines are correctly Check if the I O signal line from the Take measures against noise in the encoder is influenced by noise encoder wiring Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Check if a position error occurs at the coupling between machine and servomotor The I O signal cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm min The I O signal cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm min Check the
39. ke countermeasures for noise such as correct wiring of the FG Use an FG wire size equivalent to the SERVOPACK main circuit wire size A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK 10 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 R6 2R1 or 2R8 SERVO PACK and an external regen erative resistor is not connected An external regenerative resis tor is not connected to the SGDV 470 SGDV 550 SGDV 590 SGDV 780 SGDV 210 SGDV 260 SGDV 280 or SGDV 370 SERVOPACK Check the external regenerative resistor connection and the value of the Pn600 Connect the external regenerative resistor or set Pn600 to 0 if no regenerative resistor is required The jumper between the power supply terminals B2 and B3 is removed for the SERVOPACKs other than the SERVOPACKs shown above Confirm that a jumper is mounted between the power supply terminals B2 and B3 Correctly mount a jumper The external regenerative resis tor is incorrectly wired or is removed or disconnected Check the external regenerative resistor connection Correctly connect the external regenerative resisto
40. motor speed was too high Check the encoder output pulse out put setting and motor speed Decrease the motor speed A 520 Vibration Alarm Abnormal vibration was detected at the motor speed Check for abnormal noise from the servomotor and check the speed and torque waveforms during oper ation Reduce the motor speed or reduce the speed loop gain Pn100 The moment of inertia ratio Pn103 value is greater than the actual value or is greatly changed Check the moment of inertia ratio Set the moment of inertia ratio Pn103 to an appropriate value A 521 Autotuning Alarm Vibration was detected while executing the one parameter tuning Easy FFT or tuning less func tion The servomotor vibrated consid erably while performing tuning less function Check the motor speed waveform Reduce the load so that the moment of inertia ratio falls within the allowable value or raise the load level using the tuning less levels setting Fn200 or reduce the rigid ity level The servomotor vibrated consid erably during one parameter tun ing or EasyFFT Check the motor speed waveform Check the operation procedure of corresponding function and take a corrective action Troubleshooting 10 11 10 Troubleshooting 10 1 2 Troubleshooting of Alarms cont d Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions
41. n Error The SERVOPACK and servomotor capacities do not correspond The SERVOPACK and servomo tor capacities do not match each other Check the capacities to see if they satisfy the following condition lt Servomotor capacity 4 SERVOPACK capacity Select the proper combination of SERVOPACK and servomotor capacities An encoder fault occurred Replace the servomotor and see if the alarm occurs again Replace the servomotor encoder A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 051 Unsupported Device Alarm An unsupported serial converter unit encoder or external encoder is connected to the SERVO PACK Check the product specifications and select the correct model Select the correct combination of units A 0b0 Cancelled Servo ON Command Alarm After executing the utility func tion to turn ON the power to the motor the servo ON signal S ON was sent from the host con troller Turn the SERVOPACK power sup ply OFF and then ON again or exe cute a software reset Detection conditions If one of the following conditions detected an alarm occurs e Pn533 min x Max Motor Speed min x Encoder resolution P Pn20E 6 x 10 Encoder resolution Pn210 Pn20E About3 66x10 Pn210 Troubleshooting 10 7 10 8 10 Troubleshooting 10 1 2 Troubleshooting of Alarms cont d
42. nal cable pair cable with a core of 0 12 mm min Noise interference due to length of 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 Noise interference due to incorrect cable specifications of encoder cable The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted Use the specified encoder cable pair cable with a core of 0 12 mn min Noise interference due to length of encoder cable The encoder cable must be no more than 50 m Check the length of the encoder cable Troubleshooting 10 25 10 Troubleshooting 10 26 cont d Problem Probable Cause Abnormal Noise from Servomotor cont d Noise interference due to damaged encoder cable Excessive noise to the encoder cable The FG potential varies because of influence from machines on the ser vomotor side such as the welder SERVOPACK pulse counting error due to noise interference Excessive vibration and shock to the encoder An encoder fault occurred Investigative Actions Check if the encoder cable is bent and the sheath is damaged Check if the encoder cable is bun dled with a high current line or near a high current line Check if the machines are correctly grounded Check if there is noise interference on the I O signal line from the encoder Check
43. nt OFF Check the circumstances when the The SERVOPACK may be faulty ror 1 while setting an utility function power supply went OFF Replace the SERVOPACK The parameter data in 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 Er ror 1 The parameter setting was out of the setting range The SERVOPACK and servomo tor capacities do not match each 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 10 1 Alarm Displays cont d Alarm Number Alarm Name Alarm Description Cause Investiga
44. oder battery voltage is lower than the specified value is incorrect Check the battery connection Reconnect the battery The battery voltage is lower than the specified value 2 7 V Measure the battery voltage Replace the battery Only wh ASERVOPACK fault _ The SERVOPACK may be faulty my wien an occurred Replace the SERVOPACK absolute encoder is connected A 941 Change of Pa rameters Re quires Restart Parameters that require the restart have been changed Turn OFF the power and ON again 10 2 Warning Displays cont d Warning Num ber Warning Name Warning Description Cause Investigative Actions Corrective Actions A 971 Under voltage For 100 VAC SER VOPACKs The AC power supply voltage is 60 V or less For 200 VAC SER VOPACKs The AC power supply voltage is 140 V or less For 400 VAC SER VOPACKs The AC power supply voltage is 280 V or less Measure the power supply voltage Set the power supply voltage within the specified range The power supply volt age dropped during operation Measure the power supply voltage Increase the power supply capacity Occurrence of instanta neous power interrup tion Measure the power supply voltage When the instantaneous power cut hold time Pn509 is set decrease the setting The SERVOPACK fuse is blown out Replace the SERVOPACK and con nect a reacto
45. oller Check if the host controller is exe cuting data parity checks Execute a multiturn data parity check Check noise in the cable between the SERVOPACK and the host con troller Take measures against noise and again execute a multiturn data par ity check 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
46. omotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 8A0 External Encoder Er ror Setting the zero point position of external absolute encoder failed because the servomotor rotated Before setting the zero point posi tion use the fully closed feedback pulse counter Un00E to confirm that the servomotor is not rotating The servomotor must be stopped while setting the zero point posi tion An external encoder fault occurred Replace the external encoder A 8A1 External Encoder Er ror of Module An external encoder fault occurred Replace the external encoder A serial converter unit fault occurred Replace the serial converter unit A 8A2 External Encoder Er ror of Sensor Incremental An external encoder fault occurred Replace the external encoder A 8A3 External Encoder Er ror of Position An external absolute encoder fault occurred The external absolute encoder may be faulty Refer to the encoder man ufacturer s instruction manual for Absolute corrective actions A 8A5 The overspeed from the external Check the maximum speed of the Keep the external encoder below its External Encoder encoder occurred external encoder maximum speed Overspeed ABAS The overheat from the external External Encoder Replace the
47. or deceleration Check the power supply voltage and the speed and torque during opera tion Set AC power supply voltage within the specified range The external regenerative resis tance is too high for the actual operating conditions Check the operating conditions and the regenerative resistance Select a regenerative resistance value appropriate for the operating conditions and load The moment of inertia ratio exceeded the allowable value Confirm that the moment of inertia ratio is within the allowable range Increase the deceleration time or reduce the load A SERVOPACK fault occurred Turn the control power OFF and then ON again while the main cir cuit power supply is OFF If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK 10 10 10 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 sup
48. p Gr 1 Available rror ply was turned ON A 840 Encoder Data Error Data in the encoder is incorrect Gr 1 N A The encoder was rotating at high speed H H H A 850 Encoder Overspeed when the power was turned ON Gr 1 N A A 860 Encoder Overheated e internal temperature of encoder is too Grl N A A 8A0 External Encoder Error External encoder is faulty Gr Available A 8A1 et inal Encoder Error of Serial converter unit is faulty Gr 1 Available Module A 8A2 ade Encoder Error of External encoder is faulty Gr 1 Available Troubleshooting 10 3 10 4 10 Troubleshooting 10 1 1 List of Alarms cont d Servo Alarm Code Output motor Alarm Alarm Alarm Name Meanin Stop Number 2 ping Reset ALO1 ALO2 aLo3 Method External Encoder Error of The position data of external encoder is A 8A3 Position faulty Gr 1 Available External Encoder The overspeed from the external encoder n A 8A5 Overspeed DobHifad Gr 1 Available H H H External Encoder The overheat from the external encoder A 8A6 Overheated Soourred Gr 1 Available A AEIE SERVOPACK Command 7 1 Option Module Alarms A b10 Speed Reference A D The A D converter for speed reference input Gr2 Available Error is faulty Speed Reference A D A D conversion data of speed reference bu Data Error input is incorrect we pyallable Reference Torque
49. ply voltage Increase the power supply capacity Occurrence of instantaneous power interruption Measure the power supply voltage When the instantaneous power cut hold time Pn509 is set decrease the setting The SERVOPACK fuse is blown out Replace the SERVOPACK con nect a reactor and run the SERVO PACK A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 450 Main Circuit Capacitor Overvoltage A 510 Overspeed The servomotor speed exceeds the maximum A SERVOPACK fault occurred The order of phases U V and W in the servomotor wiring is incor rect Check the motor wiring Replace the SERVOPACK Confirm that the servomotor is cor rectly wired A reference value exceeding the overspeed detection level was input Check the input value Reduce the reference value or adjust the gain The motor speed exceeded the maximum Check the motor speed waveform Reduce the speed reference input gain adjust the servo gain or recon sider the operating conditions A SERVOPACK fault occurred The SERVOPACK may be faulty A 511 Overspeed of Encoder Output Pulse Rate Replace the SERVOPACK The encoder output pulse fre Check the encoder output pulse set Decrease the setting of the encoder quency exceeded the limit ting output pulse Pn212 The encoder output pulse output frequency exceeded the limit because the
50. r A SERVOPACK fault occurred While the main circuit power sup ply is OFF turn the control power supply OFF and then ON again If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK A 320 Regenerative Over load The power supply voltage exceeds the specified limit Measure the power supply voltage 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 JunmaSizet 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 regen
51. r to the SERVOPACK A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 9A0 Overtrav el Overtravel status is detected When the servomotor power is ON over travel status is detected Check the input signal monitor Un005 to check the status of the overtravel signals Refer to 10 3 Troubleshooting Mal function Based on Operation and Conditions 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 10 23 10 Troubleshooting 10 24 10 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table Problem Probable Cause Investigative Actions Corrective Actions Servomotor Does Not Start The control power supply is not Check voltage between control Correct the wiring Wiring of I O signal connector CN1 is faulty or disconnected Wiring for servomotor main circuit
52. rm that the encoder is correctly wired Cable disconnection for encoder cable or short circuit Or incorrect cable impedance Check the encoder cable Use the cable with the specified rat ing Corrosion caused by improper temperature humidity or gas short circuit caused by intrusion of water drops or cutting oil or Check the operating environment Improve the operating environmen tal conditions and replace the cable If the alarm still occurs replace the A C90 ErcederCorniunicac connector contact fault caused by SERVOPACK tions Error vibration Correct the wiring around the Malfunction caused by noise encoder by separating the encoder terfi x cable from the servomotor main cir SUN QS cuit cable or by checking the grounding and other wiring Connect the servomotor to another SERVOPACK and turn ON the A SERVOPACK fault occurred control power If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK Noise interference occurred on the I O signal line because the Check the encoder cable and con Confirm that there is no problem encoder cable is bent and the nector with the cable layout sheath is damaged A C91 Encoder Communica tions Position Data Er The encoder cable is bundled with a high current line or near a high current line Check the cable layout for encoder cable Confirm that there is no surge volt age on the cable ror The FG potenti
53. ror Detected on the encoder side An encoder fault occurred Absolute encoder Set up the encoder again using Fn008 If the alarm still occurs the servomotor may be faulty Replace the servomotor Absolute encoder that shows val ues for a single rotation or incre mental encoder The servomotor may be faulty Replace the servomotor A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 830 Absolute Encoder Bat tery Error The absolute encoder battery voltage is lower than the specified value The battery connection is incor rect Check the battery connection Reconnect the battery The battery voltage is lower than the specified value 2 7 V Measure the battery voltage Replace the battery A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 840 Encoder Data Error Detected on the encoder side An encoder malfunctioned Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor Malfunction of encoder because of noise interference etc Correct the wiring around the encoder by separating the encoder cable from the servomotor main cir cuit cable or by checking the grounding and other wiring A 850 Encoder Overspeed Detected when the con trol power supply was turned ON Detected on the encoder side The servomotor
54. ter Correct the setting for parameter Pn001 0 Pn001 0 DB resistor disconnected Check if excessive moment of iner tia motor overspeed or DB fre quently activated occurred Replace the SERVOPACK and reduce the load DB drive circuit fault There is a defective component in the DB circuit Replace the SER VOPACK Abnormal Noise from Servomotor The servomotor largely vibrated during execution of tuning less function Reduce the load so that the moment of inertia ratio becomes within the allowable value or increase the load level or lower the tuning level for the tuning less levels setting Fn200 Check the motor speed waveform Mounting is not secured Check if there are any loose mount Tighten the mounting screws ing screws Check if there is misalignment of Align the couplings couplings Check if there are unbalanced cou plings Balance the couplings Bearings are defective Check for noise and vibration Replace the servomotor around the bearings Vibration source at the driven machine Check for any foreign matter dam age or deformations on the machin ery s movable parts Contact the machine manufacturer Noise interference due to incorrect I O signal cable specifications The I O signal cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted 2 Use the specified I O sig
55. the position error is greater than the set value of Pn526 while the ser vomotor power is OFF Check the position error amount Un008 while the servomotor power is OFF Set position error to be cleared while the servomotor power is OFF Or correct the excessive position error alarm level at servo ON Pn526 A d02 Position Error Over flow Alarm by Speed Limit at Servo ON When the position errors remain in the error counter Pn529 limits the speed if the servomotor power is ON If Pn529 limits the speed in such a state this alarm occurs when reference pulses are input and the number of position errors exceeds the value set for the excessive position error alarm level Pn520 Set position error to be cleared while the servomotor power is OFF Or correct the excessive position error alarm level Pn520 Or adjust the speed limit level at servo ON Pn529 A d10 Motor load Position Error Overflow Motor rotation direction and external encoder installation direction are opposite Check the servomotor rotation direction and the external encoder installation direction Install the external encoder in the opposite direction or change the setting of the external encoder usage method Pn002 3 to reverse the direction Mounting of the load e g stage and external encoder joint instal lation are incorrect Check the external encoder mechanical connection Check the mechanical joints
56. tion Refer to the catalog of the con Connect a compatible safety option module was connected nected safety option module module A feedback option module fault _ Replace the feedback option mod A E75 occurred ule Unsupported Feed Refer to the catalog of the con Connect a compatible feedback back Option Module A unsupported feedback option option module nected feedback option module or module was connected the manual of the SERVOPACK The output signal circuits or devices for HWBBI and HWBB2 or the Measure the time lag between the SERVOPACK input signal circuits HWBBI and may be faulty Alternatively the HWBB2 signals input signal cables may be discon nected Check if any of these items are faulty or have been disconnected A Eb1 The lag between activations of the input signals HWBB1 and Safety Function Signal wan for the HWBB function Input Timing Error is ten second or more Confirm that the power supply is correctly wired The three phase power supply wiring is incorrect Check the power supply wiring A F10 Main Circuit Cable The three phase power supply is Measure the voltage at each phase Balance the power supply by chang Open Phase unbalanced of the three phase power supply ing phases With the main power A single phase power is input supply ON voltage was without setting Pn00B 2 power low for more than 1 sec supply method for three phase ond in an R
57. tions with encoder Grl N A are incorrect Multiturn Limit Different multiturn limits have been set in AAD Disagreement the encoder and the SERVOPACK e BUS Feedback Option Module A CF1 Communications Error Reception from the Egedback Option Mad Gr 1 N A ule is faulty Reception error Feedback Option Module A CF2 Communications Error ese Sia enon the Pest Gr 1 N A Timer stop a a sea aaa Y 10 1 Alarm Displays cont d Servo Alarm Code Output motor Alarm Alarm Alarm Name Meanin Stop Number I ping Reset ALO1 ALO2 aLo3 Method Position error exceeded the value of exces A d00 Position Error Overflow sive position error alarm level Pn520 Gr 1 Available when the servomotor power is ON This alarm occurs if the servomotor power Position Error Overflow is turned ON when the position error is S Alarm at Servo ON greater than the set value of Pn526 while uod Akalan the servomotor power is OFF When the position errors remain in the error counter Pn529 limits the speed if the servo L L H Position Error Overflow motor power is turned ON If Pn529 limits A d02 Alarm by Speed Limitat the SPeed in such a state this alarm occurs G9 Available Servo ON when reference pulses are input and the number of position errors exceeds the value set for the excessive position error alarm level Pn520 2 D
58. tive Actions Corrective Actions A 041 Encoder Output Pulse Setting Error The encoder output pulse Pn212 is out of the setting range and does not satisfy the setting condi tions Check the parameter Pn212 Set Pn212 to a correct value A 042 1 Parameter Combina tion Error The speed of program JOG oper ation Fn004 is lower than the setting range after having changed the electronic gear ratio Pn20E Pn210 or the servomo tor Check if the detection conditions are satisfied Decrease the setting of the elec tronic gear ratio Pn20E Pn210 The speed of program JOG oper ation Fn004 is lower than the setting range after having changed the setting of the pro gram JOG movement speed Pn533 Check if the detection conditions are satisfied Increase the setting of the program JOG movement speed Pn533 The moving speed of advanced autotuning is lower than the set ting range after having changed the electronic gear ratio Pn20E Pn210 or the servomotor Check if the detection conditions are satisfied 1 Decrease the setting of the elec tronic gear ratio Pn20E Pn210 A 044 Semi closed Fully closed Loop Control Parameter Setting Er ror The setting of the fully closed module does not match with that of Pn002 3 Check the settings of Pn002 3 The setting of fully closed module must be compatible with the setting of Pn002 3 A 050 Combinatio
59. uring fully closed loop control the posi A d10 ii POSNON ENON tion error between motor and load is exces Gr 2 Available sive A E71 Safety Option Module Detection of the safety option module Gri N A j Detection Failure failed AE72 Feedback Option Module Detection of the Feedback Option Module Grl N A i Detection Failure failed E i Unsupported Safety An unsupported safety option module was ALE Option Module connected Gil NA Unsupported Feedback An unsupported feedback option module AES Option Module was connected Gril NA SERVOPACK Safety 2 A E81 Module Alarm A Eb1 Safety Function Signal The safety function signal input timing is Gri N A H L L li Input Timing Error faulty A EbO SERVOPACK Safety 7 7 2 Module Alarms A ECO SERVOPACK Safety E 2 Module Alarms Dec With the main power supply ON voltage A F10 EL Gable Open was low for more than 1 second in phase R Gr 2 Available H L H S or T iS FL 1 System Alarm Internal program error occurred in the SER N A Undefined FL2 VOPACK N A Digital Operator CPF00 zi eLa Error 1 Digital operator JUSP OP05A 1 E fails to z N A Dicital O i communicate with the SERVOPACK e g Undefined igital Operator CPU error z CPF01 Transmission Error 2 Rs A Not an error Normal operation status H H H These alarms occur in SERVOPACKs with command option modules For details refer to the manual for the command option module that is connected 2
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