10 Malfunctions

= **Faults and warnings handling at startup** =

== **Position control mode** ==

|(% style="text-align:center; vertical-align:middle" %)**Boot process**|(% style="text-align:center; vertical-align:middle; width:213px" %)**Fault phenomenon**|(% style="text-align:center; vertical-align:middle; width:163px" %)**Reason**|(% style="text-align:center; vertical-align:middle" %)**Confirmation method**

6

|(% rowspan="5" style="vertical-align:middle" %)(((

Power supply

(L1, L2, L3)

Turn on control supply (L1C, L2C)

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)))|(% rowspan="3" style="vertical-align:middle; width:213px" %)(((

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1. Digital tube does not light up

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1. Voltage indicator does not light up

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)))|(% style="vertical-align:middle; width:163px" %)Control terminal is disconnected|(% style="vertical-align:middle" %)(((

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✎Rewiring

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✎L1C and L2C power lines are led separately from the socket

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)))

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|(% style="vertical-align:middle; width:163px" %)Control the supply voltage failure|(% style="vertical-align:middle" %)Measures the AC voltage between L1C &L2C.

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|(% style="vertical-align:middle; width:163px" %)Servo drive fault|(% style="vertical-align:middle" %)Contact the agent or customer service

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|(% style="vertical-align:middle; width:213px" %)Panel display “Er.xx”|(% colspan="2" style="vertical-align:middle; width:1118px" %)Refer to [[10.2 Handling of faults and warnings during operation>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]

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|(% colspan="3" style="vertical-align:middle" %)After removing the fault, the servo drive panel should display "rdy"

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|(% rowspan="4" style="vertical-align:middle" %)Servo drive enable signal is valid(S-ON is ON)|(% rowspan="2" style="vertical-align:middle; width:213px" %)The axis of servo motor is in a free running state|(% style="vertical-align:middle; width:163px" %)Servo enable signal is invalid|(% style="vertical-align:middle" %)(((

25

✎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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__

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✎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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__

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|(% style="vertical-align:middle; width:163px" %)Control mode error|(% style="vertical-align:middle" %)Check whether the parameter P00-01 is set correctly

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|(% style="vertical-align:middle; width:213px" %)Panel display Er.xx|(% colspan="2" style="vertical-align:middle; width:1118px" %)Refer to [[10.2 Handling of faults and warnings during operation>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]

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|(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo drive panel should display "run"

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|(% rowspan="2" style="vertical-align:middle" %)Input position instruction|(% style="vertical-align:middle; width:213px" %)The motor does not rotate|(% style="vertical-align:middle; width:163px" %)U0-09 (input instruction pulse number) always displays 0|(% style="vertical-align:middle" %)✎Not input position instruction(((

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1. Confirm whether DI terminal uses forward drive prohibited (DI function 3: POT) or reverse drive prohibited (DI function 4: NOT).

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1. Confirm whether DI terminal uses instruction pulse input prohibited (DI function 11: INH)

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1. 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__

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1. 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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/#HGroupP07multi-segmentposition]]__

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)))

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|(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally

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|(% rowspan="3" style="vertical-align:middle" %)The motor does not rotate smoothly at low speed|(% style="vertical-align:middle; width:213px" %)Unstable low speed|(% style="vertical-align:middle; width:163px" %)Unreasonable gain setting|(% style="vertical-align:middle" %)Please adjust the gain.

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|(% style="vertical-align:middle; width:213px" %)The motor shaft vibrates left and right|(% style="vertical-align:middle; width:163px" %)Load inertia ratio is too large|(% style="vertical-align:middle" %)After the inertia recognition is complete, performs gain adjustment.

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|(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally

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|(% style="vertical-align:middle" %)Normal operation|(% style="vertical-align:middle; width:213px" %)Inaccurate positioning|(% style="vertical-align:middle; width:163px" %)There is a position deviation that does not meet production requirements|(% style="vertical-align:middle" %)(((

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✎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.

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✎Confirm whether the device is vibrating. If yes, adjust the gain.

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✎Confirm whether the coupling at the motor shaft is locked.

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)))

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== **Speed control mode** ==

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|(% style="text-align:center; vertical-align:middle" %)**Boot process**|(% style="text-align:center; vertical-align:middle" %)**Fault phenomenon**|(% style="text-align:center; vertical-align:middle" %)**Reason**|(% style="text-align:center; vertical-align:middle" %)**Confirmation method**

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|(% rowspan="5" style="vertical-align:middle" %)(((

Power supply

(L1, L2, L3)

Turn on control supply (L1C, L2C)

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)))|(% rowspan="3" style="vertical-align:middle" %)(((

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1. Digital tube does not light up

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1. Voltage indicator does not light up

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)))|Control terminal is disconnected|(((

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✎Rewiring

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✎L1C and L2C power lines are led separately from the socket

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)))

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|Control the supply voltage failure|Measures the AC voltage between L1C &L2C.

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|Servo drive fault|Contact the agent or customer service

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|(% style="vertical-align:middle" %)Panel display “Er.xx”|(% colspan="2" %)Refer to [[10.2 Handling of faults and warnings during operation>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]

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|(% colspan="3" style="vertical-align:middle" %)After removing the fault, the servo drive panel should display "rdy"

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|(% rowspan="4" style="vertical-align:middle" %)Servo drive enable signal is valid(S-ON is ON)|(% rowspan="2" style="vertical-align:middle" %)The axis of servo motor is in a free running state|Servo enable signal is invalid|(((

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✎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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__

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✎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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__

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)))

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|Control mode error|Check whether the parameter P00-01 is set correctly

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|(% style="vertical-align:middle" %)Panel display Er.xx|(% colspan="2" %)Refer to [[10.2 Handling of faults and warnings during operation>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]

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|(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo drive panel should display "run"

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|(% rowspan="2" style="vertical-align:middle" %)Input torque instruction|(% style="vertical-align:middle" %)The motor does not rotate|U0-03 (input instruction pulse number) always displays 0|(((

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✎AI wiring error

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When selecting analog input signal, make sure that the connection of analog input terminal is correct. Refer to__[[ 4 Wiring>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__.

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✎Not input speed instruction or speed instruction abnormal

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1. 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.

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1. When the internal speed instruction is given, please confirm P01-02 (internal speed instruction )is 0.

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1. When using multi-segment speed function, please confirm the internal speed instruction parameters 0 to 7 of group P01 are right.

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1. Please confirm whether the ZERO-speed clamp function is used for the DI terminal. (DI function 5: ZCLAMP)

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)))

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|(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally

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|(% rowspan="3" style="vertical-align:middle" %)The motor does not rotate smoothly at low speed|(% style="vertical-align:middle" %)Unstable low speed|Unreasonable gain setting|Please adjust the gain.

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|(% style="vertical-align:middle" %)The motor shaft vibrates left and right|Load inertia ratio is too large|After the inertia recognition is complete, performs gain adjustment.

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|(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally

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

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== **Torque control mode** ==

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|(% style="text-align:center; vertical-align:middle" %)**Boot process**|(% style="text-align:center; vertical-align:middle" %)**Fault phenomenon**|(% style="text-align:center; vertical-align:middle" %)**Reason**|(% style="text-align:center; vertical-align:middle" %)**Confirmation method**

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|(% rowspan="5" style="vertical-align:middle" %)(((

Power supply

(L1, L2, L3)

Turn on control supply (L1C, L2C)

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)))|(% rowspan="3" style="vertical-align:middle" %)(((

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1. Digital tube does not light up

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1. Voltage indicator does not light up

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)))|(% style="vertical-align:middle" %)Control terminal is disconnected|(% style="vertical-align:middle" %)(((

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✎Rewiring

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✎L1C and L2C power lines are led separately from the socket

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)))

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|(% style="vertical-align:middle" %)Control the supply voltage failure|(% style="vertical-align:middle" %)Measures the AC voltage between L1C &L2C.

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|(% style="vertical-align:middle" %)Servo drive fault|(% style="vertical-align:middle" %)Contact the agent or customer service

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|(% style="vertical-align:middle" %)Panel display “Er.xx”|(% colspan="2" style="vertical-align:middle" %)Refer to [[10.2 Handling of faults and warnings during operation>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]

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|(% colspan="3" style="vertical-align:middle" %)After removing the fault, the servo drive panel should display "rdy"

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|(% rowspan="4" style="vertical-align:middle" %)Servo drive enable signal is valid(S-ON is ON)|(% rowspan="2" style="vertical-align:middle" %)The axis of servo motor is in a free running state|(% style="vertical-align:middle" %)Servo enable signal is invalid|(% style="vertical-align:middle" %)(((

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✎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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__

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✎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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__

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|(% style="vertical-align:middle" %)Control mode error|(% style="vertical-align:middle" %)Check whether the parameter P00-01 is set correctly

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|(% style="vertical-align:middle" %)Panel display Er.xx|(% colspan="2" style="vertical-align:middle" %)Refer to [[10.2 Handling of faults and warnings during operation>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]

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|(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo drive panel should display "run"

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|(% rowspan="2" style="vertical-align:middle" %)Input speed instruction|(% style="vertical-align:middle" %)The motor does not rotate|(% style="vertical-align:middle" %)U0-03 (input instruction pulse number) always displays 0|(% style="vertical-align:middle" %)(((

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✎AI wiring error

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When selecting analog input signal, make sure that the connection of analog input terminal is correct. Refer to__[[ 4 Wiring>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__.

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✎Not input torque instruction

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1. 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.

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1. When the internal speed instruction is given, please confirm P01-08 (torque instruction keyboard set value) is 0.

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)))

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|(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally

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|(% rowspan="3" style="vertical-align:middle" %)The motor does not rotate smoothly at low speed|(% style="vertical-align:middle" %)Unstable low speed|(% style="vertical-align:middle" %)Unreasonable gain setting|(% style="vertical-align:middle" %)Please adjust the gain.

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|(% style="vertical-align:middle" %)The motor shaft vibrates left and right|(% style="vertical-align:middle" %)Load inertia ratio is too large|(% style="vertical-align:middle" %)After the inertia recognition is complete, performs gain adjustment.

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|(% colspan="3" %)After troubleshooting, the servo motor should be able to rotate normally

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

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= **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:

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* Category 1: faults cannot be cleared;

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* Category 2: faults are clearable;

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* Category 3: faults are clearable;

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* Category 4: warnings are clearable.

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

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1. 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.

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1. 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.

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1. The clearing method of category 4 of clearable warnings: set P10-03=1 or use DI function 02.

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|(% style="text-align:center; vertical-align:middle" %)(((

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(% style="text-align:center" %)

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[[image:ksjakfjk.png]]

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)))

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|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.

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Associated function codes

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|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function Code**|(% style="text-align:center; vertical-align:middle; width:160px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:172px" %)(((

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**Setting method**

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)))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((

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**Effective time**

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)))|(% style="text-align:center; vertical-align:middle; width:138px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:552px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

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|(% style="text-align:center; vertical-align:middle; width:131px" %)P10-03|(% style="text-align:center; vertical-align:middle; width:160px" %)Fault clearing|(% style="text-align:center; vertical-align:middle; width:172px" %)(((

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Operation setting

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)))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((

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immediately Effective

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)))|(% style="text-align:center; vertical-align:middle; width:138px" %)0|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1|(% style="width:552px" %)(((

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0: No operation

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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.

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✎**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.

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)))|(% style="text-align:center; vertical-align:middle" %)-

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Associated function number:

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|(% style="text-align:center; vertical-align:middle" %)**Code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle; width:444px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:779px" %)**Function**

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|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)A-CLR|(% style="text-align:center; vertical-align:middle; width:444px" %)Fault and warning clearing|(% style="width:779px" %)(((

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DI port logic is invalid, no reset faults and warnings

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DI port logic is valid, reset faults and warnings

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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.

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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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/#HGroupU1Warningmonitoring]]__.

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== **Fault and warning code table** ==

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

|(% style="width:114px" %)Category 1|(% style="width:300px" %)AD current sampling conversion error|(% style="width:92px" %)Er.04|(% style="width:330px" %)AD current sampling conversion error|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately

|(% style="width:114px" %)Category 1|(% style="width:300px" %)(((

Exceeds motor

maximum speed

)))|(% style="width:92px" %)Er.32|(% style="width:330px" %)(((

Exceeds motor

maximum speed

)))|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately

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230

|(% style="width:114px" %)Category 1|(% style="width:300px" %)The brake resistor is turned on abnormally|(% style="width:92px" %)Er.24|(% style="width:330px" %)The brake resistor of servo drive is turned on abnormally|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately

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

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

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|(% style="text-align:center; vertical-align:middle; width:99px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:275px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:381px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:598px" %)**Troubleshooting**

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Main power supply undervoltage|(% style="vertical-align:middle; width:381px" %)(((

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The bus voltage of the drive is lower than the limit value:

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✎220V drive: normal bus voltage 310V, undervoltage threshold 200V

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✎380V drive: normal bus voltage 540V, undervoltage threshold 400V

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The possible causes of main power supply undervoltage are:

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✎The main power supply is not connected.

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✎The input voltage is low, or the voltage drops.

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✎The internal main power relay is damaged.

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)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.21|(% style="vertical-align:middle; width:598px" %)(((

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✎Check whether the drive input voltage is low. If it is, please increase the voltage or wait for the power supply to be normal, and then power on again to see if the fault is cleared.

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✎Check the input power voltage of drive to see if the voltage drops due to the change of the power load.

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)))

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((

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Braking resistor is not connected

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)))|(% style="vertical-align:middle; width:381px" %)(((

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✎When using the internal braking resistor, the shorting cap between C and D is disconnected.

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✎When using an external braking resistor, the resistor is not connected.

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✎The braking resistor status detection circuit is abnormal.

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)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.23|(% style="vertical-align:middle; width:598px" %)(((

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✎If using an internal braking resistor, please confirm whether the short-circuit jumper contact between C/D is in normal.

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✎If you use an external braking resistor, please make sure that the external braking resistor is reliably connected.

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✎If you use an external braking resistor, please confirm whether the resistance of the braking resistor is reasonable.

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✎If the above methods still cannot eliminate the fault, please contact the manufacturer.

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((

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Braking resistor resistance is too large

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)))|(% style="vertical-align:middle; width:381px" %)The braking resistor has been turned on, but the actual bus voltage is still rising. Braking resistor resistance may be too large|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.25|(% style="vertical-align:middle; width:598px" %)Please confirm whether the resistance of the braking resistor is reasonable.

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((

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Power module is over temperature

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)))|(% style="vertical-align:middle; width:381px" %)(((

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The temperature of the power module exceeds the normal value. The possible reasons are:

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✎The cooling fan is faulty, resulting in abnormal

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✎The ambient temperature is too high.

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✎The installation of the drive is unreasonable, and the interval is too small, resulting in abnormal heat dissipation.

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)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.33|(% style="vertical-align:middle; width:598px" %)(((

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✎Confirm whether the cooling fan is operating normally. If it is not normal, please replace the drive.

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✎Improve the ambient temperature.

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✎Install the servo drive according to the installation standard.

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((

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Motor overload protection

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)))|(% style="vertical-align:middle; width:381px" %)(((

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The drive detects that the motor is running overloaded. The possible reasons are:

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✎The load is too large, and the motor works in a state that exceeds the rated torque for a long time.

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✎The load inertia is relatively large and the acceleration and deceleration are frequently performed at the same time.

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✎The speed loop and position loop gain parameter settings are unreasonable.

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✎The motor is blocked.

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✎Servo drive faults

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)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.34|(% style="vertical-align:middle; width:598px" %)(((

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✎Check whether the load of the motor is too large. If the load is too large, replace the motor and drive with a larger power.

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✎Increase the acceleration and deceleration time.

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✎Use the host computer software to observe the actual torque, and observe whether there is obvious speed overshoot. Adjust the appropriate loop gain parameters;

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✎Check the mechanical connection and troubleshoot.

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✎Replace servo drive.

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)))

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Electronic gear ratio exceeds limit|(% style="vertical-align:middle; width:381px" %)(((

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In the electronic gear ratio setting, the numerator/denominator ratio is less than the lower limit or greater than the upper limit;

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The electronic gear ratio setting range is as follows:

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2500 line incremental encoder, the electronic gear ratio range is 0.01 to 100.

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For a 17-bit encoder, the electronic gear ratio range is 0.001 to 500.

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For a 23-bit encoder, the electronic gear ratio range is 0.001 to 32000.

334

)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.35|(% style="vertical-align:middle; width:598px" %)(((

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Check whether the electronic gear numerator and denominator setting values of function codes P00-17 to P00-20 meets the conditions:

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the numerator/denominator is within the range, and then power on again after modification.

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((

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Position deviation is too large

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)))|(% style="vertical-align:middle; width:381px" %)(((

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The deviation of the current position pulse exceeds the setting value of P00-25 position deviation limit. The possible reasons for are:

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✎The motor U/V/W wire is not connected or disconnected.

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✎The phase sequence of the U/V/W wires of the motor is connected incorrectly.

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✎The motor load is too large, or the motor is blocked.

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✎The drive gain setting is unreasonable.

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Position instruction equivalent speed changes too fast.

353

)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.36|(% style="vertical-align:middle; width:598px" %)(((

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✎Check whether the wiring of the motor power line U/V/W is normal.

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✎Check the load condition of the motor. If the load is too large, please replace the drive and motor with higher power; if it is blocked, please check the machine.

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✎Set the gain parameters according to the method in the "Adjustment" chapter in the user manual.

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✎When the position instruction equivalent speed changes too much, the ramp time can be appropriately increased to reduce the speed change rate.

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)))

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((

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Torque saturation abnormal

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)))|(% style="vertical-align:middle; width:381px" %)(((

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The torque reaches the maximum torque limit and exceeds the setting time of P01-19 function code. The possible reasons are:

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✎The load is too large, and the drive outputs with maximum torque, but it still cannot reach the target speed within the predetermined time.

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✎Whether the maximum forward torque limit and the maximum reverse torque limit are set too small.

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✎The motor is blocked.

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✎P01-19 torque limit time is set too short.

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✎The motor U/V/W line phase sequence is wrong.

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)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.37|(% style="vertical-align:middle; width:598px" %)(((

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✎Confirm whether the load is too large.

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✎According to the actual application, modify the forward torque limit and the maximum reverse torque limit to appropriate values.

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✎Check whether the machine is blocked.

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✎Confirm whether the setting of the function code P01-19 is reasonable.

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✎Confirm whether the motor U/V/W line phase sequence is correct.

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)))

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((

388

Main circuit electricity is lack of phase

389

)))|(% style="vertical-align:middle; width:381px" %)When the power of the three-phase drive is greater than 2.3kw, the main circuit power supply is connected to single-phase, and this fault will be reported.|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.38|(% style="vertical-align:middle; width:598px" %)(((

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✎Whether the drive of three-phase specification is running under single-phase power supply.

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✎Check whether the main circuit input L1, L2, L3 wiring is good.

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✎The three-phase power supply is unbalanced or the three-phase voltage is too low.

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396

|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Emergency stop|(% style="vertical-align:middle; width:381px" %)The drive received an emergency stop instruction|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.39|(% style="vertical-align:middle; width:598px" %)(((

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✎Check whether it is a man-made emergency shutdown protection, if so, wait for other system faults to be removed and then power on again.

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✎If it is triggered by mistake, please check whether the wiring and function configuration of the DI terminal are normal.

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|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Encoder battery failure|(% style="vertical-align:middle; width:381px" %)(((

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✎During power failure, the multi-turn absolute value motor is not connected to the battery.

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404

✎The encoder battery voltage is too low, less than 3V.

405

)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.40|(% style="vertical-align:middle; width:598px" %)Replace with a new encoder battery

406

|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Motor (encoder) over temperature|(% style="vertical-align:middle; width:381px" %)The motor encoder detects that the temperature exceeds 90 degrees Celsius.|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.41|(% style="vertical-align:middle; width:598px" %)Check whether the motor is overloaded

407

|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Encoder write faults|(% style="vertical-align:middle; width:381px" %)The encoder write operation does not respond normally|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.42|(% style="vertical-align:middle; width:598px" %)Check whether the encoder and wiring are normal

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

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|(% style="text-align:center; vertical-align:middle; width:103px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:271px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:383px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:121px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:593px" %)**Troubleshooting**

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|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Overspeed alarm|(% style="vertical-align:middle; width:383px" %)The speed exceeds the alarm limit value|(% style="text-align:center; vertical-align:middle; width:121px" %)A-81|(% style="vertical-align:middle; width:593px" %)Check whether the setting value of function code P01-11 is too small, and then check whether the speed setting is too high.

413

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Overload|(% style="vertical-align:middle; width:383px" %)Motor overload warning|(% style="text-align:center; vertical-align:middle; width:121px" %)A-82|(% style="vertical-align:middle; width:593px" %)Check whether the load the motor is too large. If it is, replace the motor and drive with a larger power.

414

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Braking resistor is over temperature or overloaded|(% style="vertical-align:middle; width:383px" %)(((

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✎When the braking resistor is selected as the internal braking resistor, it means over temperature.

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✎When the braking resistor is externally connected, it means overload.

418

)))|(% style="text-align:center; vertical-align:middle; width:121px" %)A-83|(% style="vertical-align:middle; width:593px" %)(((

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✎Please confirm whether the load inertia is too large.

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✎Please confirm whether it starts and stops frequently, and whether the speed is too high.

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423

✎Please check whether the actual resistance value is greater than the set value.

424

)))

425

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Parameter modification that needs to be powered on again|(% style="vertical-align:middle; width:383px" %)Modified the parameters that need to be re-powered on to take effect|(% style="text-align:center; vertical-align:middle; width:121px" %)A-84|(% style="vertical-align:middle; width:593px" %)Re-power on or clear the alarm

426

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Receive position pulse when servo is OFF|(% style="vertical-align:middle; width:383px" %)Servo received pulse instruction in non-SON state or non-position mode|(% style="text-align:center; vertical-align:middle; width:121px" %)A-85|(% style="vertical-align:middle; width:593px" %)Please check the control signal timing of the host device, the servo is stopped or the pulse is still being sent in the non-position mode.

427

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((

428

Input pulse

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430

frequency is too high

431

)))|(% style="vertical-align:middle; width:383px" %)The equivalent speed of the input frequency of the instruction pulse is too large|(% style="text-align:center; vertical-align:middle; width:121px" %)A-86|(% style="vertical-align:middle; width:593px" %)Check whether the setting of the pulse input frequency and the instruction pulse number of one turn of the motor (P00-16) or the electronic gear ratio (P00-17 to P00-20) is reasonable.

432

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((

433

Main circuit momentary

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435

power off

436

)))|(% style="vertical-align:middle; width:383px" %)The main circuit input voltage is momentarily too low|(% style="text-align:center; vertical-align:middle; width:121px" %)A-88|(% style="vertical-align:middle; width:593px" %)Check whether the mains input has voltage, and then power on again or clear the alarm; if the mains is normal and the alarm still exists, please contact the manufacturer.

437

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)DI port configuration is duplicate|(% style="vertical-align:middle; width:383px" %)Different DI ports are set to the same DI function|(% style="text-align:center; vertical-align:middle; width:121px" %)A-89|(% style="vertical-align:middle; width:593px" %)✎**Note: **Check DI channel function selection: DI_1 channel function selection (P06-02) to DI_8 channel function selection (P06-23)in function code "DIDO configuration", and check whether the 8 DI channel function selections are duplicated. If yes, close the unnecessary channels, and then power on again.

438

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)DO port configuration is duplicate|(% style="vertical-align:middle; width:383px" %)Different DO ports are set to the same DO function|(% style="text-align:center; vertical-align:middle; width:121px" %)A-90|(% style="vertical-align:middle; width:593px" %)Check DO channel function selection: DO_1 channel function selection (P06-26) to DI_4 channel function selection (P06-32)in function code "DIDO configuration", and check whether the 4 D0 channel function selections are duplicated. If yes, close the unnecessary channels, and then power on again.

439

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Parameter modification is too frequent|(% style="vertical-align:middle; width:383px" %)The frequency of communication to modify function code parameters is too frequent|(% style="text-align:center; vertical-align:middle; width:121px" %)A-91|(% style="vertical-align:middle; width:593px" %)Confirm whether the host computer writes parameters frequently, and modify the corresponding parameter writing method.

440

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((

441

low encoder battery voltage

442

443

Warning of

444

)))|(% style="vertical-align:middle; width:383px" %)Encoder battery voltage is less than 3.1V|(% style="text-align:center; vertical-align:middle; width:121px" %)A-92|(% style="vertical-align:middle; width:593px" %)Replace with a new encoder battery

445

|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((

446

Encoder read and write

447

448

check abnormal and frequency is too high

449

)))|(% style="vertical-align:middle; width:383px" %)Encoder communication has timeout or CRC check error|(% style="text-align:center; vertical-align:middle; width:121px" %)A-93|(% style="vertical-align:middle; width:593px" %)Check whether the encoder wiring is disturbed

450

451

The “**✎Note” **section describes how to handle the warning of "Duplicate DI port configuration" of VD2-0XXSA1G. Due to the number of DI ports, the function codes of VD2F-0xxSA1P are different. Please refer to __[[Group P06 DI/DO configuration>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__

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