10 Malfunctions

Last modified by Mora Zhou on 2024/07/18 10:00

Faults and warnings handling at startup

Position control mode

Boot process	Fault phenomenon	Reason	Confirmation method
Power supply (L1, L2, L3) Turn on control supply (L1C, L2C)	Digital tube does not light up Voltage indicator does not light up	Control terminal is disconnected	✎Rewiring ✎L1C and L2C power lines are led separately from the socket
		Control the supply voltage failure	Measures the AC voltage between L1C &L2C.
		Servo drive fault	Contact the agent or customer service
	Panel display “Er.xx”	Refer to 10.2 Handling of faults and warnings during operation
	After removing the fault, the servo drive panel should display "rdy"
Servo drive enable signal is valid(S-ON is ON)	The axis of servo motor is in a free running state	Servo enable signal is invalid	✎Check whether group P06 is set the servo enable signal (DI function 1: S-ON). If it is, check whether the corresponding DI terminal logic is valid. If it is invalid,please make it valid. Refer to Group P06 DI/DO configuration ✎If group P06 parameters have set the servo enable signal, and the corresponding terminal logic is valid, but the panel still displays "rdy", check whether the DI terminal wiring is correct, please refer to 4 Wiring
	The axis of servo motor is in a free running state	Control mode error	Check whether the parameter P00-01 is set correctly
	Panel display Er.xx	Refer to 10.2 Handling of faults and warnings during operation
	After troubleshooting, the servo drive panel should display "run"
Input position instruction	The motor does not rotate	U0-09 (input instruction pulse number) always displays 0	✎Not input position instruction Confirm whether DI terminal uses forward drive prohibited (DI function 3: POT) or reverse drive prohibited (DI function 4: NOT). Confirm whether DI terminal uses instruction pulse input prohibited (DI function 11: INH) When P01-06=0(position instruction source), PLC or other pulse output device do not output pulse. Please use oscilloscope to check whether there is pulse input or check U0-08 (input instruction pulse frequency). Refer to 4 Wiring When P01-06=1(position instruction source), please check whether the parameters of group P07 are set correctly. If yes, please confirm whether the DI function 20 (internal multi-segment position enable signal) and the corresponding DI terminal logic are set to be valid. Refer to Group P07 multi-segment position
Input position instruction	After troubleshooting, the servo motor should be able to rotate normally
The motor does not rotate smoothly at low speed	Unstable low speed	Unreasonable gain setting	Please adjust the gain.
	The motor shaft vibrates left and right	Load inertia ratio is too large	After the inertia recognition is complete, performs gain adjustment.
	After troubleshooting, the servo motor should be able to rotate normally
Normal operation	Inaccurate positioning	There is a position deviation that does not meet production requirements	✎Confirm the U0-09 value (input instruction pulse number) is consistent with the actual one sent by the host computer. If not, please check confirm whether the motor is blocked. ✎Confirm whether the device is vibrating. If yes, adjust the gain. ✎Confirm whether the coupling at the motor shaft is locked.

Speed control mode

Boot process	Fault phenomenon	Reason	Confirmation method
Power supply (L1, L2, L3) Turn on control supply (L1C, L2C)	Digital tube does not light up Voltage indicator does not light up	Control terminal is disconnected	✎Rewiring ✎L1C and L2C power lines are led separately from the socket
		Control the supply voltage failure	Measures the AC voltage between L1C &L2C.
		Servo drive fault	Contact the agent or customer service
	Panel display “Er.xx”	Refer to 10.2 Handling of faults and warnings during operation
	After removing the fault, the servo drive panel should display "rdy"
Servo drive enable signal is valid(S-ON is ON)	The axis of servo motor is in a free running state	Servo enable signal is invalid	✎Check whether group P06 is set the servo enable signal (DI function 1: S-ON). If it is, check whether the corresponding DI terminal logic is valid. If it is invalid,please make it valid. Refer to Group P06 DI/DO configuration ✎If group P06 parameters have set the servo enable signal, and the corresponding terminal logic is valid, but the panel still displays "rdy", check whether the DI terminal wiring is correct, please refer to 4 Wiring
	The axis of servo motor is in a free running state	Control mode error	Check whether the parameter P00-01 is set correctly
	Panel display Er.xx	Refer to 10.2 Handling of faults and warnings during operation
	After troubleshooting, the servo drive panel should display "run"
Input torque instruction	The motor does not rotate	U0-03 (input instruction pulse number) always displays 0	✎AI wiring error When selecting analog input signal, make sure that the connection of analog input terminal is correct. Refer to 4 Wiring. ✎Not input speed instruction or speed instruction abnormal When selecting analog input signal, please confirm the AI parameters of group P05 is set correct, and then check the analog input voltage signal. It could be observed by oscilloscope or read by monitoring U0-21 and U0-22. When the internal speed instruction is given, please confirm P01-02 (internal speed instruction )is 0. When using multi-segment speed function, please confirm the internal speed instruction parameters 0 to 7 of group P01 are right. Please confirm whether the ZERO-speed clamp function is used for the DI terminal. (DI function 5: ZCLAMP)
Input torque instruction	After troubleshooting, the servo motor should be able to rotate normally
The motor does not rotate smoothly at low speed	Unstable low speed	Unreasonable gain setting	Please adjust the gain.
	The motor shaft vibrates left and right	Load inertia ratio is too large	After the inertia recognition is complete, performs gain adjustment.
	After troubleshooting, the servo motor should be able to rotate normally

✎Note: VD2F does not support monitoring u0-21 and U0-22.

Torque control mode

Boot process	Fault phenomenon	Reason	Confirmation method
Power supply (L1, L2, L3) Turn on control supply (L1C, L2C)	Digital tube does not light up Voltage indicator does not light up	Control terminal is disconnected	✎Rewiring ✎L1C and L2C power lines are led separately from the socket
		Control the supply voltage failure	Measures the AC voltage between L1C &L2C.
		Servo drive fault	Contact the agent or customer service
	Panel display “Er.xx”	Refer to 10.2 Handling of faults and warnings during operation
	After removing the fault, the servo drive panel should display "rdy"
Servo drive enable signal is valid(S-ON is ON)	The axis of servo motor is in a free running state	Servo enable signal is invalid	✎Check whether group P06 is set the servo enable signal (DI function 1: S-ON). If it is, check whether the corresponding DI terminal logic is valid. If it is invalid,please make it valid. Refer to Group P06 DI/DO configuration ✎If group P06 parameters have set the servo enable signal, and the corresponding terminal logic is valid, but the panel still displays "rdy", check whether the DI terminal wiring is correct, please refer to 4 Wiring
	The axis of servo motor is in a free running state	Control mode error	Check whether the parameter P00-01 is set correctly
	Panel display Er.xx	Refer to 10.2 Handling of faults and warnings during operation
	After troubleshooting, the servo drive panel should display "run"
Input speed instruction	The motor does not rotate	U0-03 (input instruction pulse number) always displays 0	✎AI wiring error When selecting analog input signal, make sure that the connection of analog input terminal is correct. Refer to 4 Wiring. ✎Not input torque instruction When selecting analog input signal, please confirm the AI parameters of group P05 is set correct, and then check the analog input voltage signal. It could be observed by oscilloscope or read by monitoring U0-21 and U0-22. When the internal speed instruction is given, please confirm P01-08 (torque instruction keyboard set value) is 0.
Input speed instruction	After troubleshooting, the servo motor should be able to rotate normally
The motor does not rotate smoothly at low speed	Unstable low speed	Unreasonable gain setting	Please adjust the gain.
	The motor shaft vibrates left and right	Load inertia ratio is too large	After the inertia recognition is complete, performs gain adjustment.
	After troubleshooting, the servo motor should be able to rotate normally

✎Note: VD2F does not support monitoring u0-21 and U0-22.

Faults and warnings handling during operation

Overview

The faults and warnings of Wecon VD2 series servo drives are graded according to their severity, which can be divided into four grades: Category 1, Category 2, Category 3, Category 4. Severity level: Category 1> Category 2> Category 3 > Category 4, the specific classifications are as follows:

Category 1: faults cannot be cleared;
Category 2: faults are clearable;
Category 3: faults are clearable;
Category 4: warnings are clearable.

Among them, "clearable" means that the panel stops the fault display state by giving a "clear signal". The specific operations are as follows:

Set the function code P10-03=1 (fault clearing) or use DI function 02 (02-A-CLR, fault and warning clearing) and set it to logic valid, which can stop the fault display on the panel.
The clearing method of category 2 and category 3 clearable faults: first turn off the servo enable signal (set S-ON to OFF), then set P10-03=1 or use DI function 02.
The clearing method of category 4 of clearable warnings: set P10-03=1 or use DI function 02.

For some faults and warnings, you must change the settings to eliminate the causes before they can be cleared, but clearing does not mean that the changes take effect. For the changes that need to be re-powered to take effect, the power must be re-powered. For the changes that need to be stopped to take effect, the servo enable must be turned off. After the change takes effect, the servo drive can operate normally.

Associated function codes

Function Code	Name	Setting method	Effective time	Default value	Range	Definition	Unit
P10-03	Fault clearing	Operation setting	immediately Effective	0	0 to 1	0: No operation 1: For clearable faults, after the cause of fault is removed, and write 1 to the function code, the drive will stop the fault display and enter the Rdy (or RUN) state again. ✎Note: If the servo S-ON is valid, when the fault is removed and cleared, the servo will directly enter the Run state. When performing fault clearing actions, be sure to stop sending control instructions such as pulses to ensure personal safety.	-

Associated function number:

Code	Name	Function name	Function
2	A-CLR	Fault and warning clearing	DI port logic is invalid, no reset faults and warnings DI port logic is valid, reset faults and warnings

VD2 series servo drives have a fault recording function, which could record the last 5 faults and the last 5 warning names and the status parameters of servo drive when the fault or warning occurs. After the fault or warning is cleared, the fault record will still save the fault and warning.

The current fault code could be viewed through the monitoring parameter U1-01, and the current warning code could be viewed through U1-02. The monitoring U1-16 to U1-25 could display the last 5 fault codes and warning codes. Please refer to Group U1 Warning monitoring.

Fault and warning code table

The first category (category 1 for short) The fault could not be cleared

Category	Error name	Fault code	Content	Whether Clearable	Operation
Category 1	Parameter destruction	Er.01	Abnormal servo internal parameters	No	Stop immediately
Category 1	Parameter storage error	Er.02	Abnormal servo internal parameters	No	Stop immediately
Category 1	ADC reference source faults	Er.03	Abnormal ADC reference source	No	Stop immediately
Category 1	AD current sampling conversion error	Er.04	AD current sampling conversion error	No	Stop immediately
Category 1	Abnormal FPGA communication	Er.05	Abnormal FPGA communication	No	Stop immediately
Category 1	Wrong FPGA program version	Er.06	Wrong FPGA program version	No	Stop immediately
Category 1	Clock abnormal	Er.07	Clock abnormal	No	Stop immediately
Category 1	ADC conversion undone	Er.60	ADC conversion error	No	Stop immediately
Category 1	Internal software fault	Er.61	Abnormal servo internal software	No	Stop immediately
Category 1	Internal software fault	Er.62	Abnormal servo internal software	No	Stop immediately
Category 1	Internal software fault	Er.63	Abnormal servo internal software	No	Stop immediately
Category 1	Internal software fault	Er.64	Abnormal servo internal software	No	Stop immediately
Category 1	Internal software fault	Er.65	Abnormal servo internal software	No	Stop immediately
Category 1	Motor model error	Er.26	Motor model error	No	Stop immediately
Category 1	Encoder disconnection	Er.27	The encoder cable is incorrectly connected	Yes	Stop immediately
Category 1	Encoder Z pulse lost	Er.28	Encoder Z pulse lost	No	Stop immediately
Category 1	Encoder UVW signal error	Er.30	Encoder UVW signal error	No	Stop immediately
Category 1	Exceeds motor maximum speed	Er.32	Exceeds motor maximum speed	No	Stop immediately
Category 1	Over current	Er.20	Servo drive hardware overcurrent	No	Stop immediately
Category 1	The brake resistor is turned on abnormally	Er.24	The brake resistor of servo drive is turned on abnormally	No	Stop immediately

The 2nd category (category 2 for short) clearable faults

Category	Error name	Fault code	Content	Whether Clearable	Operation
Category 2	Main power supply overvoltage	Er.22	Main power supply overvoltage	Yes	Stop immediately
Category 2	Power line disconnection	Er.31	The power cable is incorrectly connected	Yes	Stop immediately

The 3rd Category (category 3 for short) clearable faults

Category	Error name	Fault code	Content	Whether Clearable	Operation
Category 3	Main power supply under voltage	Er.21	Main power supply under voltage	Yes	Stop immediately
Category 3	Braking resistor is not connected	Er.23	Braking resistor is not connected	Yes	Stop immediately
Category 3	Braking resistor resistance is too large	Er.25	Braking resistor resistance is too large	Yes	Stop immediately
Category 3	Power module is over temperature	Er.33	Power module is over temperature	Yes	Stop immediately
Category 3	Motor overload protection	Er.34	Motor overload protection	Yes	Stop immediately
Category 3	Electronic gear ratio exceeds limit	Er.35	Electronic gear ratio exceeds limit	Yes	Stop immediately
Category 3	Position deviation is too large	Er.36	Position deviation is too large	Yes	Stop immediately
Category 3	Torque saturation abnormal	Er.37	Torque saturation abnormal	Yes	Stop immediately
Category 3	Main circuit electricity is lack of phase	Er.38	Main circuit electricity is lack of phase	Yes	Stop immediately
Category 3	Emergency stop	Er.39	Triggered the emergency stop signal	Yes	Stop immediately
Category 3	Encoder battery failure	Er.40	Encoder battery failure	Yes	Stop immediately
Category 3	Motor (encoder) over temperature	Er.41	Motor (encoder) over temperature	Yes	Stop immediately
Category 3	Encoder write faults	Er.42	The encoder fails to write data	Yes	Stop immediately
Category 3	Drive overload alarm	Er.43	The drive exceeds the power limit for more than 20 minutes	Yes	Stop immediately
Category 3	Drive stall over temperature alarm	Er.45	The drive controls the motor and it is stalled	Yes	Stop immediately

The 4th category (category 4 for short) clearable warnings

Category	Error name	Fault code	Content	Whether Clearable	Operation
Category 4	Overspeed alarm	A-81	Motor exceeds the speed limit	Yes	Continue to run
Category 4	Overload	A-82	The motor was run continuously with a torque exceeding the rated value	Yes	Continue to run
Category 4	Braking resistor is over temperature or overloaded	A-83	Braking resistor is over temperature or overloaded	Yes	Continue to run
Category 4	Parameter modification that needs to be powered on again	A-84	Modify the parameter that needs to be powered on again	Yes	Continue to run
Category 4	Receive position pulse when servo is OFF	A-85	Servo drive receives position pulse when it is OFF	Yes	Continue to run
Category 4	Input pulse frequency is too high	A-86	Input pulse frequency is too high	Yes	Continue to run
Category 4	Main circuit momentary power off	A-88	Main circuit momentary power off	Yes	Continue to run
Category 4	DI port configuration is duplicate	A-89	DI port configuration is duplicate	Yes	Continue to run
Category 4	DO port configuration is duplicate	A-90	DO port configuration is duplicate	Yes	Continue to run
Category 4	Parameter modification is too frequent	A-91	Parameter modification is too frequent	Yes	Continue to run
Category 4	low encoder battery voltage Warning	A-92	The battery voltage of encoder is less than 3.1V	Yes	Continue to run
Category 4	Encoder read and write check abnormal and frequency is too high	A-93	Encoder read and write check abnormal and frequency is too high	Yes	Continue to run

Troubleshooting

Er.01 Parameter destruction

Fault

Servo drive panel display	Fault name
	Parameter destruction

Troubleshooting

Reason	Troubleshooting methods	Handling
EEPROM could not be read and written	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	Please contact the technician.

Er.02 Parameter storage error

Fault

Servo drive panel display	Fault name
	Parameter storage error

Troubleshooting

Reason	Troubleshooting methods	Handling
Firmware upgraded	Check whether the program has been upgraded.	Power on the servo drive again
Parameter read and write exceptions	After a parameter is changed, power it on again and check whether the parameter is saved	If the parameters are not saved after multiple power-on, contact technician.
Servo drive firmware faulty	Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range. VD2-0xxSA1G model: earlier than V1.14. VD2F-0xxSA1P model: earlier than V1.02	VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above. VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.

Er.03 ADC reference source fault

Fault

Servo drive panel display	Fault name
	ADC reference source fault

Troubleshooting

Reason	Troubleshooting methods	Handling
The internal analog reference source of the drive is not accurate	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

Er.04 AD current sampling conversion error

Fault

Servo drive panel display	Fault name
	AD current sampling conversion error

Troubleshooting

Reason	Troubleshooting methods	Handling
Current sampling timeout	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.
current sensor error

Er.05 FPGA communication abnormal

Fault

Servo drive panel display	Fault name
	FPGA communication abnormal

Troubleshooting

Reason	Troubleshooting methods	Handling
FPGA communication abnormal	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

Er.06 Wrong FPGA program version

Fault

Servo drive panel display	Fault name
	Wrong FPGA program version

Troubleshooting

Reason	Troubleshooting methods	Handling
The FPGA program version does not match firmware version	Check whether the monitoring quantity of servo drive U2-04 (firmware version) and U2-05 (hardware version) conform to the following table	Contact technical to upgrade FPGA (hardware version)
Servo drive fault	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

Firmware version	Hardware version
1.00	1.00
1.10	1.01
1.11	1.01
1.12	1.01
1.13	1.01
1.14	1.01

Table 10-1 The firmware version and hardware version relationship of VD2-0SA1G servo drive

Er.07 Clock abnormal

Fault

Servo drive panel display	Fault name
	Clock abnormal

Troubleshooting

Reason	Troubleshooting methods	Handling
External interference	Check for strong magnetic fields nearby	Eliminate nearby strong magnetic interference
External interference	Check whether there are sources of interference such as power supply inverter equipment nearby	Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
Servo drive fault	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

Er.20 Overcurrent

Fault

Servo drive panel display	Fault name
	Overcurrent

Troubleshooting

Reason	Troubleshooting methods	Handling
The UVW phase sequence of motor power cable is incorrect	Check whether the phase sequence of the motor power cable on the servo drive side and motor side corresponds to each other.	Connect correctly according to UVW on the drive side and UVW on the motor side
Motor power lines are short-circuited	Check whether power line UVW is short-circuited to PE	Replace motor power line
The motor power line wiring port is poorly contacted	Check whether the motor power line connection port is connected reliably	Tighten the fixing screws of the motor power line connection ports
Abnormal braking resistance	Internal brake resistance wiring error: check whether C, D are connected to the short cap and the contact is normal	Connect the short cap or short wire between C and D reliably
	External braking resistor wiring error: Check whether the external resistor is connected reliably between P+ and C.	External braking resistance is reliably strung between P+ and C
	Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.	Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C. Contact technician to replace the internal braking resistor
	The resistance value of the external braking resistor is too small: Test the resistance value of the external braking resistor actually selected and compare it with the recommended braking resistor to confirm whether the resistance value of the actual resistor is too small	Choose a suitable external braking resistor
Encoder wiring error; loose plug	Check whether the cable port (CN1) of the encoder is properly connected	Tighten the fixing screws on the CN1 port
	Check whether the servo drive CN1 port jack is deformed	If the cable is deformed, replace the cable or its port
	Check whether both ends of the rectangular connector are reliably connected	Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
Unreasonable parameter settings	Check whether P03-02 (Load rigidity Level) is set properly	Reduce the P03-02 (load stiffness level) setting value appropriately
Unreasonable parameter settings	Check whether the gain parameters are set properly, resulting in overshoot	Adjust gain parameters reasonably
Frequent acceleration and deceleration	Check whether the acceleration and deceleration motion is frequent or the acceleration and deceleration time is too small	Appropriately extend the acceleration and deceleration time
Internal servo drive fault	Cross-verification. Use the normal motor, encoder cable to connect to the servo drive, only connect the encoder cable. If the servo drive still alarm, it is failure.	Contact technician for repair

Er.21 Main power supply undervoltage

Fault

Servo drive panel display	Fault name
	Main power supply undervoltage

Reason: DC bus voltage is lower than the fault value.

220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 200V.
380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 420V.

Troubleshooting

Reason	Troubleshooting methods	Handling
Power-off when VD2A drive is enabled	Check whether the servo drive is Power off when logic is valid.and the S-ON function is enabled in the P06 “DIDO Function configuration parameter”.	It belongs to servo internal software logic. When the indicator light on the servo drive panel goes out automatically, the alarm will be removed automatically.
The power supply is unstable or OFF.	Check whether the drive input power specifications meet the following specifications: 220V drive: Valid value is 198V to 242V. 380V drive: Valid value is 342V to 440V.	Use after the power supply is stable; Increase power supply capacity
The voltage drops during operation of the servo drive	Check whether the servo drive shares the same power supply with other high loads	Turn off other loads from the same main circuit power supply. Separate power supply for servo drives
Missing phase (3-phase power supply operating on single-phase power)	Check if the main circuit wiring is correct VD2A: single-phase 220V input connected to L1, L3. VD2 B: single-phase 220V input connected to L1, L3, and single-phase 220V input connected to L1C, L2C. VD2 B: three-phase 220V input connected to L1, L2, L3. VD2F: single-phase 220V input connected to L1, L2	Connect the main circuit wiring correctly
Internal servo drive fault	Observe whether the monitoring quantity U0-31 (bus voltage) is in the following range: 220V drive: U0-31 less than 200V; 380V drive: U0-31 less than 400V.	Contact technician for repair

Er.22 Main power supply overvoltage

Fault

Servo drive panel display	Fault name
	Main power supply overvoltage

Reason: DC bus voltage is bigger than the fault value.

220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 390V.
380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 670V.

Troubleshooting

Reason	Troubleshooting methods	Handling
The input voltage is too high	Check whether the drive input power specifications meet the following specifications: 220V drive: Valid value is 198V to 242V. 380V drive: Valid value is 342V to 440V.	Replace or adjust power supply
The power supply is not stable or struck by lightning	Check whether the input power supply of the servo drive meets the specifications and monitor whether it has been struck by lightning.	used after the power supply is stable Connect to surge suppressor
Abnormal braking resistance	Internal brake resistance wiring error: check whether C, D are connected to the short cap and the contact is normal	Connect the short cap or short wire between C and D reliably
	External braking resistor wiring error: Check whether the external resistor is connected reliably between P+ and C.	External braking resistance is reliably strung between P+ and C
	Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.	Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C. Contact technician to replace the internal braking resistor
	The resistance value of the external braking resistor is too large: Check the resistance value of the external braking resistor actually selected and compare it with the recommended braking resistor to confirm whether the resistance value of the actual resistor is too large.	Choose a suitable external braking resistor
The motor is in a state of rapid acceleration and deceleration motion	Monitor the servo drive monitoring quantity U0-31 (bus voltage) to confirm whether the voltage exceeds the fault value when the motor is in the deceleration section.	Ensure that the input voltage is within specification and increase acceleration and deceleration times
Internal servo drive fault	The servo drive is still faulty after power on again	Servo drive may be damaged.Contact technician for repair

Er.23 Braking resistor is not connected

Fault

Servo drive panel display	Fault name
	Braking resistor is not connected

Troubleshooting

Reason	Troubleshooting methods	Handling
Internal brake resistance wiring error	Check whether C, D are connected to the short cap and the contact is normal	When using an internal braking resistor, reliably connect the shorting cap or shorting wire between C and D
External braking resistor wiring error	Check whether the external resistor is connected reliably between P+ and C.	When using an external braking resistor, the external resistor is reliably strung between P+ and C
Internal braking resistor damaged	The servo drive is powered off. Detects whether the resistance between P+ and D is 50Ω	Contact the technician to replace the internal braking resistor. Use an external braking resistor and change the relevant parameters of the P00 "Basic Settings".

Er.24 Braking resistor turns on abnormally

Fault

Servo drive panel display	Fault name
	Braking resistor is not connected

Troubleshooting

Reason	Troubleshooting methods	Handling
Internal servo drive fault	The servo drive is still faulty after power on again	Servo drive may be damaged.Contact technician for repair

Er.25 Braking resistor resistance is too large

Fault

Servo drive panel display	Fault name
	Braking resistor resistance is too large

Troubleshooting

Reason	Troubleshooting methods	Handling
The resistance value of the external braking resistor is too large	Check the resistance value of the external braking resistor actually selected and compare it with the recommended braking resistor to confirm whether the resistance value of the actual resistor is too large.	Choose a suitable external braking resistor
Unreasonable parameter settings	Check whether the value of servo drive P00-10 (external brake resistance) is set too high	Reasonably set the P00-10 (external braking resistor resistance) parameter value
Servo drive firmware fault	Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range. VD2-0xxSA1G model: earlier than V1.14. VD2F-0xxSA1P model: earlier than V1.02	VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above. VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.

Er.26 Braking resistor resistance is too large

Fault

Servo drive panel display	Fault name
	Motor code wrong

Troubleshooting

Reason	Troubleshooting methods	Handling
Servo drives do not support this motor	Check whether the servo driver model supports the motor	Contact technical for suitable recommendations of servo drive model or motor model.
Wrong motor model	Check whether the Motor Code is consistent with the Motor nameplate	Contact technician to record the motor Motor Code

Er.27 Encoder disconnection

Fault

Servo drive panel display	Fault name
	Encoder disconnection

Troubleshooting

Reason	Troubleshooting methods	Handling
Poor contact on CN1 port	Check whether the cable port (CN1) of the encoder is properly connected	Tighten the fixing screws on the CN1 port
Poor contact on CN1 port	Check whether the servo drive CN1 port jack is deformed	If the cable is deformed, replace the cable or its port
Poor contact on adapter port (Rectangular connection cable)	Check whether both ends of the rectangular connector are reliably connected	Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
Wrong encoder cable wiring	Check whether the both ends of the encoder cable are correctly connected	Adjust wiring according to the corresponding relationship of pins; The standard encoder cable of the manufacturer is preferred.

Er.28 Encoder Z pulse lost

Fault

Servo drive panel display	Fault name
	Encoder Z pulse lost

Troubleshooting

Reason	Troubleshooting methods	Handling
Wrong motor model	Check whether the Motor Code is consistent with the Motor nameplate	Contact technician to record the motor Motor Code
External interference	Check for strong magnetic fields nearby	Eliminate nearby strong magnetic interference
External interference	Check whether there are sources of interference such as power supply inverter equipment nearby	Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
Encoder fault	Manually rotate the motor shaft counterclockwise or clockwise to observe whether the monitoring quantity U0-30 (electrical angle) changes regularly	If the value of U0-30 (electrical angle) changes abruptly or does not change, the encoder itself may have problems, please replace the motor or encoder.

Er.30 Encoder UVW signal error

Fault

Servo drive panel display	Fault name
	Encoder UVW signal error

Troubleshooting

Reason	Troubleshooting methods	Handling
External interference	Check that the motor and servo drive are well grounded	Motor and servo drive are well grounded
Encoder cable fault	Cross-verification. Use the normal motor, encoder cable to connect to the servo drive.	Replace it with an encoder cable with higher connection reliability.
Servo drive fault	The servo drive is still faulty after power on again	Servo drive may be damaged.Contact technician for repair

Er.31 Power line disconnection

Fault

Servo drive panel display	Fault name
	Power line disconnection

Troubleshooting

Reason	Troubleshooting methods	Handling
The motor power line wiring port is poorly contacted	Check whether the motor power line connection port is connected reliably	Tighten the fixing screws of the motor power line connection ports
The power cable is disconnected	Check the power cable for disconnections at both ends	Replace the power cable and power on again.
Poor contact on adapter port (Rectangular connection cable)	Check whether both ends of the rectangular connector are reliably connected	Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.

Er.32 Exceeds motor maximum speed

Fault

Servo drive panel display	Fault name
	Exceeds motor maximum speed

Troubleshooting

Reason	Troubleshooting methods	Handling
The UVW phase sequence of motor power cable is incorrect	Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.	Connect correctly according to UVW on the drive side and UVW on the motor side
P01-10 parameter Settings are incorrect	Check that the parameter value of P01-10 (maximum speed threshold) is less than the maximum speed required for the actual operation of the motor	Reset P01-10 (maximum speed threshold) according to mechanical requirements
P01-10 parameter Settings are incorrect	Check whether the motor speed corresponding to the input instruction exceeds P01-10 (maximum speed threshold). Position mode, when the instruction is from a pulse instruction (P01-06 = 0). Motor speed (rpm) = input pulse frequency (Hz) * 60 * electronic gear ratio / encoder resolution
Servo drive fault	The servo drive is still faulty after power on again	Servo drive may be damaged. Please replace the servo drive.

Er.33 Power module is over temperature

Fault

Servo drive panel display	Fault name
	Power module is over temperature

Troubleshooting

Reason	Troubleshooting methods	Handling
Ambient temperature is too high	Measure the ambient temperature	Reduce the ambient temperature of the servo drive
The cooling fan is faulty	Check the servo drive fan for blockage or damage	Contact technician for fan repair or replacement
The servo drive is mounted in an unreasonable orientation or the spacing between the servo drives is unreasonable	Check whether the servo drive installation is reasonable	Contact technical to obtain the installation standard of the servo drive
Servo drive fault	Restarting after 10 minutes of power failure is still reported	Servo drive may be damaged. Please replace the servo drive.

Er.34 Motor overload protection

Fault

Servo drive panel display	Fault name
	Motor overload protection

Troubleshooting

Reason	Troubleshooting methods	Handling
Motor power cable, encoder cable wiring error	Check whether the motor power cable and encoder cable wiring are correct.	Connect them according to the correct connection method. Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
The load is too large	Check overload characteristics of motor or servo drive	Reduce the load. Contact technical to obtain the appropriate capacity drive and motor model.
Frequent acceleration and deceleration	Check whether the acceleration and deceleration motion is frequent or the acceleration and deceleration time is too small	Appropriately extend the acceleration and deceleration time
Motor model and servo driver do not match	Check the monitoring quantity U0-53 (motor model code).	Contact technician to obtain the matching motor model.
Unreasonable parameters	Use Wecon SCTools to obtain the actual torque waveform and observe whether overshoot is obvious	Set the appropriate loop gain parameters
	Observe whether the motor vibrates during operation	Set the appropriate rigidity level
	Check whether p10-04 (Motor overload protection time coefficient) is reasonable	Increase P10-04 (motor overload protection time factor) in the case of ensuring that the motor will not burn out.
Motor blockage	Check if the motor is blocked due to mechanical jamming of the load.	Release the mechanical jam.
The brakes are not open	Check whether the brake device is opened normally, and check whether the output voltage of the brake is 24V	Check the logic of brake power supply or brake output signal
Servo drive fault	The servo drive is still faulty after power on again	Servo drive may be damaged, please contact technician for repair.

Er.35 Electronic gear ratio exceeds limit

Fault

Servo drive panel display	Fault name
	Electronic gear ratio exceeds limit

Troubleshooting

Reason	Troubleshooting methods	Handling
The electronic gear ratio setting is greater than the settable range	Check that the ratio of function codes P01-17/P01-18, P01-19/P01-20 is in the following range. 17bit absolute encoder upper limit value: 500. 23bit absolute encoder upper limit value: 32000	After modifying the corresponding function code according to the range, set P10-03 (fault clearance) to 1.
The electronic gear ratio setting is less than the settable range	Check that the ratio of function codes P01-17/P01-18, P01-19/P01-20 is in the following range. 17bit absolute encoder lower limit value: 500.

Er.36 Position deviation is too large

Fault

Servo drive panel display	Fault name
	Position deviation is too large

Troubleshooting

Reason	Troubleshooting methods	Handling
Cable error	Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.	Connect correctly according to UVW on the drive side and UVW on the motor side
Cable error	Check whether both ends of the power cable are disconnected	Replace the power cable and power on again
Unreasonable parameter settings	Check whether P03-02 (Load rigidity Level) is set properly	Reduce the P03-02 (load stiffness level) setting value appropriately
	Check whether the gain parameters are set properly, resulting in overshoot	Adjust gain parameters reasonably
	Check whether P00-25 (position deviation threshold) is set properly	Increase the value of P00-25 (position deviation threshold)
	Use Wecon SCTools to obtain the equivalent speed of the position instruction and check whether the speed is greater than the motor speed limit	Increase the setting values of P01-12 (forward speed threshold) and P01-13 (reverse speed threshold) according to mechanical requirements
Motor blockage	Check if the motor is blocked due to mechanical jamming of the load.	Release the mechanical jam.
The brakes are not open	Check whether the brake device is opened normally, and check whether the output voltage of the brake is 24V	Check the logic of brake power supply or brake output signal
The input pulse frequency is too high	Position mode: when the instruction comes from the pulse instruction (P01-06=0), check whether the input pulse frequency is too high	Reduce the input pulse frequency
The equivalent velocity of position instruction changes too fast	Check if the position instruction changes too fast in the equivalent speed	Properly increase the acceleration and deceleration time and reduce the rate of change of the speed

Er.37 Torque saturation abnormal

Fault

Servo drive panel display	Fault name
	Torque saturation abnormal

Troubleshooting

Reason	Troubleshooting methods	Handling
Motor power line cable UVW phase sequence error	Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.	Connect correctly according to UVW on the drive side and UVW on the motor side
Unreasonable parameter settings	Check whether P01-19 Torque saturation timeout) is set properly	Increase P01-19 Torque saturation timeout) setting value appropriately
	Check whether P01-15 (forward torque limit) and P01-16 (reverse torque limit) are set reasonable	Increase the setting values of P01-15 (forward torque limit) and P01-16 (reverse torque limit) appropriately
	Check whether the gain parameters are set properly	Adjust gain parameters reasonably
	Check whether the gain parameters are set properly	Increase the acceleration and deceleration time
The load is too heavy	Check whether the load is too heavy	Reduce the load
Motor blockage	Check whether the motor is blocked due to mechanical jamming of the load.	Release the mechanical jam.
The brakes are not open	Check whether the brake device is opened normally, and check whether the output voltage of the brake is 24V	Check the logic of brake power supply or brake output signal
Limit switches are mounted outside the travel	Check whether the limit switch is installed outside the travel	Adjust the installation position of limit switch

Er.38 Main circuit electricity is lack of phase

Fault

Servo drive panel display	Fault name
	Main circuit electricity is lack of phase

Troubleshooting

Reason	Troubleshooting methods	Handling
Cable error	Check whether the motor power line connection port is connected reliably	Tighten the fixing screws of the motor power line connection ports
Cable error	Check the power cable for disconnections at both ends	Replace the power cable and power on again.
Three-phase specification drives run on single-phase power supplies	Check whether the three-phase drive has a single-phase power supply	Connect a three-phase power supply according to the power supply specifications
The power supply is unstable or off	Check that the drive input power specifications meet the specifications: 220V drive valid value: 198V to 242V. 380V drive valid value: 342V to 418V	Use after the power supply is stable.
Servo drive fault	The servo drive is still faulty after power on again	Servo drive may be damaged, please contact technician for repair.

Er.39 Emergency stop

Fault

Servo drive panel display	Fault name
	Emergency stop

Troubleshooting

Reason	Troubleshooting methods	Handling
Servo drive receives emergency stop instructions	Check whether emergency stop protection is triggered manually	Power on the servo drive again
Servo drive receives emergency stop instructions	Check whether the servo drive has mistakenly triggered the emergency stop signal. Check whether function 08 (E-STOP) is configured in the P06 group "DIDO configuration" function code group "DI port function selection" and whether the DI port wiring is normal.	Properly wire the DI port

Er.40 Encoder battery failure

Fault

Servo drive panel display	Fault name
	Encoder battery failure

Troubleshooting

Reason	Troubleshooting methods	Handling
Multi-turn absolute encoder is not connected to the battery during the power off of the servo drive	Check if the encoder is connected to the battery during the power off of the servo	Set P10-03 (Fault clearing) to 1
The voltage of multi-turn absolute encoder battery is low	Measure battery voltage	Contact technicians to replace with a new encoder battery

Er.41 Motor (encoder) over temperature

Fault

Servo drive panel display	Fault name
	Motor (encoder) over temperature

Troubleshooting

Reason	Troubleshooting methods	Handling
The motor is overloaded	Check whether the motor is overloaded	Reduce the load of the motor

Er.42 Encoder write fault fault

Fault

Servo drive panel display	Fault name
	Encoder write faults

Troubleshooting

Reason	Troubleshooting methods	Handling
Poor contact of CN1 port	Check whether the cable port (CN1) of the encoder is properly connected	Tighten the fixing screws on the CN1 port
Poor contact of CN1 port	Check whether the servo drive CN1 port jack is deformed	If the cable is deformed, replace the cable or its port
Poor contact on adapter port (Rectangular connection cable)	Check whether both ends of the rectangular connector are reliably connected	Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
External interference	Check for strong magnetic fields nearby	Eliminate nearby strong magnetic interference
External interference	Check whether there are sources of interference such as power supply inverter equipment nearby	Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
Servo drive fault	The servo drive is still faulty after power on again	Servo drive may be damaged, please contact technician for repair.

Er.43 Drive overload fault

Fault

Servo drive panel display	Fault name
	Drive overload fault

Troubleshooting

Reason	Troubleshooting	Handling
The average output power (U0-34) exceeds the limit power (overload 110%) for more than 20 minutes.	Whether the average output power (U0-34) often exceeds the limit (overload 110) Check whether the drive meets the requirements.	Observed whether the U0-34 is often greater than the servo limit power (overload 110%) during servo operation. When ER.43 alarm is found in the process of machine adjustment, please check whether the servo power is suitable. It is recommended to replace the driver model with higher power.
Servo drive fault	The servo drive is still faulty after power on again	Servo drive may be damaged, contact the manufacturer's technician for repair.

Er.45 Drive Blocking Overtemperature Protection

Fault

Servo drive panel display	Fault name
	Driver Blocking Overtemperature Protection

Troubleshooting

Reason	Troubleshooting	Treatment
Check whether U0-39 load torque percentage exceeds the maximum torque of the motor for 3 seconds or observe whether the load torque at the waveform interface of the oscilloscope of the upper computer is greater than the maximum torque of the motor and the motor is blocked.	Check whether U0-39 load torque percentage exceeds the maximum torque of the motor, and observe whether the motor is stuck.	Observable maximum torque observe whether the load torque on the waveform interface of the host computer oscilloscope is greater than the motor maximum torque or check whether U0-39 load torque percentage exceeds the motor maximum torque for 3 seconds.

Er.60 ADC conversion is not complete

Fault

Servo drive panel display	Fault name
	ADC conversion is not complete

Troubleshooting

Reason	Troubleshooting methods	Handling
External interference	Check for strong magnetic fields nearby	Eliminate nearby strong magnetic interference
External interference	Check whether there are sources of interference such as power supply inverter equipment nearby	Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
Servo drive fault	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

Er.61 Internal software fault

Fault

Servo drive panel display	Fault name
	Internal software fault

Troubleshooting

Reason	Troubleshooting methods	Handling
Servo drive fault	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

Er.62 Internal software fault

Fault

Servo drive panel display	Fault name
	Internal software fault

Troubleshooting

Reason	Troubleshooting methods	Handling
Servo drive fault	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

Er.63 Internal software fault

Fault

Servo drive panel display	Fault name
	Internal software fault

Troubleshooting

Reason	Troubleshooting methods	Handling
Servo drive fault	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

Er.64 Internal software fault

Fault

Servo drive panel display	Fault name
	Internal software fault

Troubleshooting

Reason	Troubleshooting methods	Handling
Servo drive fault	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

Er.65 Internal software fault

Fault

Servo drive panel display	Fault name
	Internal software fault

Troubleshooting

Reason	Troubleshooting methods	Handling
Servo drive fault	Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.	If there is still alarm after multiple power-on, contact the technician.

A-80 Drive overpower warning

Fault

Servo drive panel display	Alarm name
	Drive overpower warning

Troubleshooting

Reason	Troubleshooting	Handling
The average output power (U0-34) exceeds the limit power of the drive (overload 110%) for more than 5 seconds, the drive will have alarm.	Check whether the average output power (U0-34) exceeds the limit (overload 110) The average output power (U0-34) exceeds the limit power (overload 110%) for more than 5 minutes. Check whether the U0-34 exceeds 110% of the rated power of the driver.	Check whether the U0-34 exceeds 110% of the rated power of the driver. When A80 alarm is found in the process of machine adjustment, please check whether the servo power is suitable.

A-81 Overspeed alarm

Fault

Servo drive panel display	Fault name
	Overspeed alarm

Troubleshooting

Reason	Troubleshooting methods	Handling
Motor power line cable UVW phase sequence error	Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.	Connect correctly according to UVW on the drive side and UVW on the motor side
P01-11 parameter setting is not proper	Check whether the value of P01-11 (warning speed threshold) is less than the max speed required for the operation of motor	Reset P01-11 (warning speed threshold) according to mechanical requirements
Input speed command is too high	Check whether the motor speed corresponding to the input command exceeds P01-11 (maximum speed threshold)	Reduce the input speed instruction according to the mechanical requirements; Reasonably increase P01-11 (warning speed threshold)

A-82 Overload

Fault

Servo drive panel display	Fault name
	Overload

Troubleshooting

Reason	Troubleshooting methods	Handling
Motor power cable, encoder cable wiring error	Check whether the motor power cable and encoder cable wiring are correct.	Connect them according to the correct connection method. Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
The load is too large	Check overload characteristics of motor or servo drive	Reduce the load. Contact technical to obtain the appropriate capacity drive and motor model.
Motor model and servo driver do not match	Perform inertia identification and check the inertia ratio.	Contact technician to obtain the matching motor model.
Motor model and servo driver do not match	Check the monitoring quantity U0-53 (motor model code).	Contact technician to obtain the matching motor model.
Unreasonable parameters	Use Wecon SCTools to obtain the actual torque waveform and observe whether overshoot is obvious	Set the appropriate loop gain parameters
Unreasonable parameters	Observe whether the motor vibrates during operation	Set the appropriate rigidity level

A-83 Braking resistor is over temperature or overloaded

Fault

Servo drive panel display	Fault name
	Braking resistor is over temperature or overloaded

Troubleshooting

Reason	Troubleshooting methods	Handling
Improper connection of internal braking resistor	Check whether C, D are connected to the short cap and the contact is normal	When using an internal braking resistor, reliably connect the shorting cap or shorting wire between C and D
Improper connection of external braking resistor	Remove the external braking resistor and measure whether the resistance value is "∞” (infinity)	Replace the new external braking resistor. After ensuring that the resistance value of the resistor is the same as the nominal value, connect it in series between P+ and C.
The resistance value of the external braking resistor is too large	Test the actual external braking resistor resistance and compare it with the recommended braking resistor to make sure the actual resistance is not too large.	Use a suitable external braking resistor.
Improper parameter setting	When using an external braking resistor, check the following parameters. Whether P00-09 (braking resistor setting) is reasonable. P00-10 (external braking resistor resistance value) is reasonable.	Reasonable setting of P00-09 (braking resistor setting): P00-09=1 (use external braking resistor and natural cooling) P00-09 = 3 (do not use the braking resistor, all by capacitor absorption) P00-10 (external braking resistor resistance value) parameter value and the actual actual use of external braking resistor are consistent.

A-84 Parameter modification that needs to be powered on again

Fault

Servo drive panel display	Fault name
	Modified parameters that need to be powered on again to take effect

Troubleshooting

Reason	Troubleshooting methods	Handling
Modified the effective timing to "power on again" parameter.	Check whether the servo drive has modified the parameter with the effective time "power on again".	Power on again

A-85 Receive position pulse when servo is OFF

Fault

Servo drive panel display	Fault name
	Receive position pulse when servo is OFF

Troubleshooting

Reason	Troubleshooting methods	Handling
Servo received position pulse when it is OFF.	Check whether the servo drive is in the OFF state, and check whether the host computer is sending pulse instruction.	The host computer stops sending pulse instructions.
Servo received pulse instruction in non-position mode	Check whether the servo drive P00-01 (control mode) is in position mode; Check whether the host computer is sending pulse instructions	The host computer stops sending pulse instructions.

A-86 Input pulse frequency is too high

Fault

Servo drive panel display	Fault name
	Input pulse frequency is too high

Troubleshooting

Reason	Troubleshooting methods	Handling
The input pulse frequency is too high	Position mode; When the instruction source is pulse instructions (P01-06=0), check whether the input pulse frequency is too high	Reduce the input pulse frequency
Improper parameter setting	Check whether the parameter value of P01-16 (number of instruction pulses for one rotation of the motor) is greater than the actual demand value.	Reset P01-16 according to mechanical requirements (number of instruction pulses for one rotation of motor).
Improper parameter setting	Check whether the parameter value of P01-17 to P01-20 (electronic gear ratio) is greater than the actual demand value.	Reset parameter of values P01-17 to P01-20 (electronic gear ratio) according to mechanical requirements

A-88 Main circuit momentary power off

Fault

Servo drive panel display	Fault name
	Main circuit momentary power off

Troubleshooting

Reason	Troubleshooting methods	Handling
Power off	Check that the drive input power specifications meet the specifications: 220V drive valid value: 198V to 242V. 380V drive valid value: 342V to 418V	Use it after the power supply is stable
Servo drive fault	The servo drive is still faulty after power on again	Servo drive may be damaged, please contact technician for repair.

A-89 DI port configuration is duplicate

Fault

Servo drive panel display	Fault name
	DI port configuration is duplicate

Troubleshooting

Reason	Troubleshooting methods	Handling
The same non-zero DI function is assigned to multiple DI ports	Check whether the "DI port function selection" of the "DIDO Configuration" function code group of the P06 group is configured with the same DI function	Configuring each DI port for different DI functions and power on again. Configure the function of the unwanted DI ports to 0 (off) and power on again. Factory reset the parameter P10-02=1, and power on again.

A-90 DI port configuration is duplicate

Fault

Servo drive panel display	Fault name
	DO port configuration i duplicate

Troubleshooting

Reason	Troubleshooting methods	Handling
The same non-zero DO function is assigned to multiple DO ports	Check whether the "DO port function selection" of the "DIDO Configuration" function code group of the P06 group is configured with the same DO function	Configuring each DO port for different DO functions and power on again. Configure the function of the unwanted DO ports to 0 (off) and power on again. Factory reset the parameter P10-02=1, and power on again.

A-91 Parameter modification is too frequent

Fault

Servo drive panel display	Fault name
	Parameter modification is too frequent (modification frequency allowed of function code: 6 hours/150 times Note: 32-bit function code: recorded as 2 times)

Troubleshooting

Reason	Troubleshooting	Handling
EEPROM writing frequency is too high	Check whether the host computer frequently modifies the parameters (modification frequency allowed of function code: 6 hours/150 times Note: 32-bit function code: recorded as 2 times)	(1) During machine adjustment, A91 warning (6 hours/150 times) caused by manual frequent modification of function codes can be cleared through P10-03. In other cases, please check the PLC program (2) If A91 warning appears in the normal working mode of the machine, please check whether the PLC program frequently modifies the function code. (3) When the function code needs to be modified frequently, it is recommended to close Modbus write to EEPROM (P12-4 is set to 0)
external interference	Check for strong magnetic fields nearby	Eliminate nearby strong magnetic interference
	Check whether there are sources of interference such as power supply inverter equipment nearby	Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
	Increase the abnormal threshold setting of P0-31 encoder read-write check.	Eliminate the A93 warning by increasing the exception threshold is suitable as a temporary solution. The disadvantage is that the motor may run in an unstable state.
Encoder fault	Manually rotate the motor shaft counterclockwise or clockwise to observe whether the monitoring quantity U0-30 (electrical angle) changes regularly	If the value of U0-30 (electrical angle) changes abruptly or does not change, the encoder itself may have problems, please replace the motor or encoder.
Servo drive fault	●Cross-verification. Use the normal motor, encoder cable to connect to the servo drive. If the servo drive still have alarm, it is servo fault.	Servo driver may be damaged, please contact the manufacturer's technician.

A-92 Low encoder battery voltage warning

Fault

Servo drive panel display	Fault name
	Low encoder battery voltage warning

Troubleshooting

Reason	Troubleshooting methods	Handling
The encoder battery voltage is less than 3.1V	Measure the encoder battery voltage	Contact technician to replace a new encoder battery

A-93 Abnormal and frequency of encoder read and write check is too high

Fault

Servo drive panel display	Fault name
	The abnormal frequency of encoder read-write verification is too high

Troubleshooting

Reason	Troubleshooting methods	Handling
External interference	Check for strong magnetic fields nearby	Eliminate nearby strong magnetic interference
	Check whether there are sources of interference such as power supply inverter equipment nearby	Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
	Increase the abnormal threshold setting of P0-31.	This method is suitable as a temporary workaround to eliminate the A93 warning. It may cause an unstable state in the operation of the motor.
Encoder issue	Manually rotate the motor shaft slowly, and observe the changes of the monitoring quantity U0-30 (electrical angle).	If the value of U0-30 (electrical angle) changes suddenly or does not change, it may be a problem with the encoder, please replace the motor or encoder.
Internal servo drive fault	Cross-verification. Use the normal motor, encoder cable to connect to the servo drive, only connect the encoder cable. If the servo drive still alarm, it is failure.	Contact technician for repair

10 Malfunctions

Faults and warnings handling at startup

Position control mode

Speed control mode

Torque control mode

Faults and warnings handling during operation

Overview

Fault and warning code table

Troubleshooting

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