Changes for page 10 Malfunctions

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231	231
232	232	**(2)The 2nd category (category 2 for short) clearable faults**
233	233
234		-|(% style="text-align:center; vertical-align:middle; width:97px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:276px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:379px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:601px" %)**Troubleshooting**
235		-|(% style="text-align:center; vertical-align:middle; width:97px" %)Category 2|(% style="text-align:center; vertical-align:middle; width:276px" %)Main power supply overvoltage|(% style="vertical-align:middle; width:379px" %)(((
236		-The drive detects that the bus voltage is too high. The possible reasons are:
237	237
238		-✎Check whether the main power input voltage is normal.
	235	+|**Category**|**Error name**|**Fault code**|**Content**|**Whether Clearable**|**Operation**
	236	+|Category 2|Main power supply overvoltage|Er.22|Main power supply overvoltage|Yes|Stop immediately
	237	+|Category 2|Encoder disconnection|Er.27|The encoder cable is incorrectly connected|Yes|Stop immediately
	238	+|Category 2|Power line disconnection|Er.31|The power cable is incorrectly connected|Yes|Stop immediately
239	239
240		-220V drive power supply voltage range: -10% to +10% (198V to 242V)
241		-
242		-380V drive power supply voltage range: -10% to +10% (342V to 418V)
243		-
244		-✎The resistance of the braking resistor is too large, causing the braking energy can not be absorbed in time.
245		-
246		-✎The load inertia is large and the motor accelerates and decelerates too fast, and the maximum braking energy exceeds the absorbable value.
247		-
248		-✎The bus voltage detection deviation is too large.
249		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.22|(% style="vertical-align:middle; width:601px" %)(((
250		-✎Check whether the mains input voltage is too high.
251		-
252		-✎Check whether the resistance of the braking resistor is reasonable.
253		-
254		-✎Extend the acceleration and deceleration time and choose a braking resistor with a lower resistance.
255		-)))
256		-|(% style="text-align:center; vertical-align:middle; width:97px" %)Category 2|(% style="text-align:center; vertical-align:middle; width:276px" %)Encoder disconnection|(% style="vertical-align:middle; width:379px" %)Encoder disconnection|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.27|(% style="vertical-align:middle; width:601px" %)(((
257		-✎Check whether the wiring of the motor encoder wire is loose. If it is, please tighten it.
258		-
259		-✎Replace the encoder cable, and then power on again.
260		-)))
261		-|(% style="text-align:center; vertical-align:middle; width:97px" %)Category 2|(% style="text-align:center; vertical-align:middle; width:276px" %)Power line disconnection|(% style="vertical-align:middle; width:379px" %)The motor power line is loose or disconnected|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.31|(% style="vertical-align:middle; width:601px" %)(((
262		-✎Check whether the wiring of motor power line is loose, if it is loose, please tighten it.
263		-
264		-✎Replace motor power line transfer cable, and then power on again.
265		-)))
266		-
267	267	**(3) The 3rd Category (category 3 for short) clearable faults**
268	268
269		-|(% 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**
270		-|(% 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" %)(((
271		-The bus voltage of the drive is lower than the limit value:
272	272
273		-✎220V drive: normal bus voltage 310V, undervoltage threshold 200V
	243	+|**Category**|**Error name**|**Fault code**|**Content**|**Whether Clearable**|**Operation**
	244	+|Category 3|Main power supply under voltage|Er.21|Main power supply under voltage|Yes|Stop immediately
	245	+|Category 3|Braking resistor is not connected|Er.23|Braking resistor is not connected|Yes|Stop immediately
	246	+|Category 3|Braking resistor resistance is too large|Er.25|Braking resistor resistance is too large|Yes|Stop immediately
	247	+|Category 3|Power module is over temperature|Er.33|Power module is over temperature|Yes|Stop immediately
	248	+|Category 3|Motor overload protection|Er.34|Motor overload protection|Yes|Stop immediately
	249	+|Category 3|Electronic gear ratio exceeds limit|Er.35|Electronic gear ratio exceeds limit|Yes|Stop immediately
	250	+|Category 3|Position deviation is too large|Er.36|Position deviation is too large|Yes|Stop immediately
	251	+|Category 3|Torque saturation abnormal|Er.37|Torque saturation abnormal|Yes|Stop immediately
	252	+|Category 3|(((
	253	+Main circuit electricity
274	274
275		-✎380V drive: normal bus voltage 540V, undervoltage threshold 400V
	255	+is lack of phase
	256	+)))|Er.38|(((
	257	+Main circuit electricity
276	276
277		-The possible causes of main power supply undervoltage are:
	259	+is lack of phase
	260	+)))|Yes|Stop immediately
	261	+|Category 3|Emergency stop|Er.39|Triggered the emergency stop signal|Yes|Stop immediately
	262	+|Category 3|Encoder battery failure|Er.40|Encoder battery failure|Yes|Stop immediately
	263	+|Category 3|Motor (encoder) over temperature|Er.41|Motor (encoder) over temperature|Yes|Stop immediately
	264	+|Category 3|Encoder write faults|Er.42|The encoder fails to write data|Yes|Stop immediately
278	278
279		-✎The main power supply is not connected.
280		-
281		-✎The input voltage is low, or the voltage drops.
282		-
283		-✎The internal main power relay is damaged.
284		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.21|(% style="vertical-align:middle; width:598px" %)(((
285		-✎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.
286		-
287		-✎Check the input power voltage of drive to see if the voltage drops due to the change of the power load.
288		-)))
289		-|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
290		-Braking resistor is not connected
291		-)))|(% style="vertical-align:middle; width:381px" %)(((
292		-✎When using the internal braking resistor, the shorting cap between C and D is disconnected.
293		-
294		-✎When using an external braking resistor, the resistor is not connected.
295		-
296		-✎The braking resistor status detection circuit is abnormal.
297		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.23|(% style="vertical-align:middle; width:598px" %)(((
298		-✎If using an internal braking resistor, please confirm whether the short-circuit jumper contact between C/D is in normal.
299		-
300		-✎If you use an external braking resistor, please make sure that the external braking resistor is reliably connected.
301		-
302		-✎If you use an external braking resistor, please confirm whether the resistance of the braking resistor is reasonable.
303		-
304		-✎If the above methods still cannot eliminate the fault, please contact the manufacturer.
305		-)))
306		-|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
307		-Braking resistor resistance is too large
308		-)))|(% 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.
309		-|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
310		-Power module is over temperature
311		-)))|(% style="vertical-align:middle; width:381px" %)(((
312		-The temperature of the power module exceeds the normal value. The possible reasons are:
313		-
314		-✎The cooling fan is faulty, resulting in abnormal
315		-
316		-✎The ambient temperature is too high.
317		-
318		-✎The installation of the drive is unreasonable, and the interval is too small, resulting in abnormal heat dissipation.
319		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.33|(% style="vertical-align:middle; width:598px" %)(((
320		-✎Confirm whether the cooling fan is operating normally. If it is not normal, please replace the drive.
321		-
322		-✎Improve the ambient temperature.
323		-
324		-✎Install the servo drive according to the installation standard.
325		-)))
326		-|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
327		-Motor overload protection
328		-)))|(% style="vertical-align:middle; width:381px" %)(((
329		-The drive detects that the motor is running overloaded. The possible reasons are:
330		-
331		-✎The load is too large, and the motor works in a state that exceeds the rated torque for a long time.
332		-
333		-✎The load inertia is relatively large and the acceleration and deceleration are frequently performed at the same time.
334		-
335		-✎The speed loop and position loop gain parameter settings are unreasonable.
336		-
337		-✎The motor is blocked.
338		-
339		-✎Servo drive faults
340		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.34|(% style="vertical-align:middle; width:598px" %)(((
341		-✎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.
342		-
343		-✎Increase the acceleration and deceleration time.
344		-
345		-✎Use the host computer software to observe the actual torque, and observe whether there is obvious speed overshoot. Adjust the appropriate loop gain parameters;
346		-
347		-✎Check the mechanical connection and troubleshoot.
348		-
349		-✎Replace servo drive.
350		-)))
351		-|(% 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" %)(((
352		-In the electronic gear ratio setting, the numerator/denominator ratio is less than the lower limit or greater than the upper limit;
353		-
354		-The electronic gear ratio setting range is as follows:
355		-
356		-2500 line incremental encoder, the electronic gear ratio range is 0.01 to 100.
357		-
358		-For a 17-bit encoder, the electronic gear ratio range is 0.001 to 500.
359		-
360		-For a 23-bit encoder, the electronic gear ratio range is 0.001 to 32000.
361		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.35|(% style="vertical-align:middle; width:598px" %)(((
362		-Check whether the electronic gear numerator and denominator setting values of function codes P00-17 to P00-20 meets the conditions:
363		-
364		-the numerator/denominator is within the range, and then power on again after modification.
365		-)))
366		-|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
367		-Position deviation is too large
368		-)))|(% style="vertical-align:middle; width:381px" %)(((
369		-The deviation of the current position pulse exceeds the setting value of P00-25 position deviation limit. The possible reasons for are:
370		-
371		-✎The motor U/V/W wire is not connected or disconnected.
372		-
373		-✎The phase sequence of the U/V/W wires of the motor is connected incorrectly.
374		-
375		-✎The motor load is too large, or the motor is blocked.
376		-
377		-✎The drive gain setting is unreasonable.
378		-
379		-Position instruction equivalent speed changes too fast.
380		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.36|(% style="vertical-align:middle; width:598px" %)(((
381		-✎Check whether the wiring of the motor power line U/V/W is normal.
382		-
383		-✎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.
384		-
385		-✎Set the gain parameters according to the method in the "Adjustment" chapter in the user manual.
386		-
387		-✎When the position instruction equivalent speed changes too much, the ramp time can be appropriately increased to reduce the speed change rate.
388		-)))
389		-|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
390		-Torque saturation abnormal
391		-)))|(% style="vertical-align:middle; width:381px" %)(((
392		-The torque reaches the maximum torque limit and exceeds the setting time of P01-19 function code. The possible reasons are:
393		-
394		-✎The load is too large, and the drive outputs with maximum torque, but it still cannot reach the target speed within the predetermined time.
395		-
396		-✎Whether the maximum forward torque limit and the maximum reverse torque limit are set too small.
397		-
398		-✎The motor is blocked.
399		-
400		-✎P01-19 torque limit time is set too short.
401		-
402		-✎The motor U/V/W line phase sequence is wrong.
403		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.37|(% style="vertical-align:middle; width:598px" %)(((
404		-✎Confirm whether the load is too large.
405		-
406		-✎According to the actual application, modify the forward torque limit and the maximum reverse torque limit to appropriate values.
407		-
408		-✎Check whether the machine is blocked.
409		-
410		-✎Confirm whether the setting of the function code P01-19 is reasonable.
411		-
412		-✎Confirm whether the motor U/V/W line phase sequence is correct.
413		-)))
414		-|(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
415		-Main circuit electricity is lack of phase
416		-)))|(% 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" %)(((
417		-✎Whether the drive of three-phase specification is running under single-phase power supply.
418		-
419		-✎Check whether the main circuit input L1, L2, L3 wiring is good.
420		-
421		-✎The three-phase power supply is unbalanced or the three-phase voltage is too low.
422		-)))
423		-|(% 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" %)(((
424		-✎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.
425		-
426		-✎If it is triggered by mistake, please check whether the wiring and function configuration of the DI terminal are normal.
427		-)))
428		-|(% 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" %)(((
429		-✎During power failure, the multi-turn absolute value motor is not connected to the battery.
430		-
431		-✎The encoder battery voltage is too low, less than 3V.
432		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.40|(% style="vertical-align:middle; width:598px" %)Replace with a new encoder battery
433		-|(% 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
434		-|(% 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
435		-
436	436	**(4) The 4th category (category 4 for short) clearable warnings**
437	437
438		-|(% 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**
439		-|(% 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.
440		-|(% 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.
441		-|(% 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" %)(((
442		-✎When the braking resistor is selected as the internal braking resistor, it means over temperature.
	268	+|(% style="width:100px" %)**Category**|(% style="width:294px" %)**Error name**|**Fault code**|(% style="width:390px" %)**Content**|(% style="width:108px" %)**Whether Clearable**|**Operation**
	269	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)Overspeed alarm|A-81|(% style="width:390px" %)Motor exceeds the speed limit|(% style="width:108px" %)Yes|Continue to run
	270	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)Overload|A-82|(% style="width:390px" %)The motor was run continuously with a torque exceeding the rated value|(% style="width:108px" %)Yes|Continue to run
	271	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)Braking resistor is over temperature or overloaded|A-83|(% style="width:390px" %)Braking resistor is over temperature or overloaded|(% style="width:108px" %)Yes|Continue to run
	272	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)Parameter modification that needs to be powered on again|A-84|(% style="width:390px" %)Modify the parameter that needs to be powered on again|(% style="width:108px" %)Yes|Continue to run
	273	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)Receive position pulse when servo is OFF|A-85|(% style="width:390px" %)Servo drive receives position pulse when it is OFF|(% style="width:108px" %)Yes|Continue to run
	274	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)Input pulse frequency is too high|A-86|(% style="width:390px" %)Input pulse frequency is too high|(% style="width:108px" %)Yes|Continue to run
	275	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
	276	+Main circuit momentary
443	443
444		-✎When the braking resistor is externally connected, it means overload.
445		-)))|(% style="text-align:center; vertical-align:middle; width:121px" %)A-83|(% style="vertical-align:middle; width:593px" %)(((
446		-✎Please confirm whether the load inertia is too large.
447		-
448		-✎Please confirm whether it starts and stops frequently, and whether the speed is too high.
449		-
450		-✎Please check whether the actual resistance value is greater than the set value.
451		-)))
452		-|(% 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
453		-|(% 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.
454		-|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
455		-Input pulse
456		-
457		-frequency is too high
458		-)))|(% 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.
459		-|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
	278	+power off
	279	+)))|A-88|(% style="width:390px" %)(((
460	460	Main circuit momentary
461	461
462	462	power off
463		-)))|(% 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.
464		-|(% 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.
465		-|(% 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.
466		-|(% 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.
467		-|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
	283	+)))|(% style="width:108px" %)Yes|Continue to run
	284	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)DI port configuration is duplicate|A-89|(% style="width:390px" %)DI port configuration is duplicate|(% style="width:108px" %)Yes|Continue to run
	285	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)DO port configuration is duplicate|A-90|(% style="width:390px" %)DO port configuration is duplicate|(% style="width:108px" %)Yes|Continue to run
	286	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)Parameter modification is too frequent|A-91|(% style="width:390px" %)Parameter modification is too frequent|(% style="width:108px" %)Yes|Continue to run
	287	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
468	468	low encoder battery voltage
469	469
470		-Warning of
471		-)))|(% 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
472		-|(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
	290	+Warning
	291	+)))|A-92|(% style="width:390px" %)The battery voltage of encoder is less than 3.1V|(% style="width:108px" %)Yes|Continue to run
	292	+|(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
473	473	Encoder read and write
474	474
475	475	check abnormal and frequency is too high
476		-)))|(% 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
	296	+)))|A-93|(% style="width:390px" %)(((
	297	+Encoder read and write
477	477
478		-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]]__
	299	+check abnormal and frequency is too high
	300	+)))|(% style="width:108px" %)Yes|Continue to run