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Wiki source code of 10 Malfunctions

Version 1.3 by Iris on 2025/09/05 17:06
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1 = **Faults and warnings handling at startup** =
2
3 == **Position control mode** ==
4
5 |=(% 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" %)(((
7 Power supply
8
9 (L1, L2, L3)
10
11 Turn on control supply (L1C, L2C)
12 )))|(% rowspan="3" style="vertical-align:middle; width:213px" %)(((
13 1. Digital tube does not light up
14 1. Voltage indicator does not light up
15 )))|(% style="vertical-align:middle; width:163px" %)Control terminal is disconnected|(% style="vertical-align:middle" %)(((
16 ✎Rewiring
17
18 ✎L1C and L2C power lines are led separately from the socket
19 )))
20 |(% style="vertical-align:middle; width:163px" %)Control the supply voltage failure|(% style="vertical-align:middle" %)Measures the AC voltage between L1C &L2C.
21 |(% style="vertical-align:middle; width:163px" %)Servo drive fault|(% style="vertical-align:middle" %)Contact the agent or customer service
22 |(% 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>>||anchor="HFaultsandwarningshandlingduringoperation"]]
23 |(% colspan="3" style="vertical-align:middle" %)After removing the fault, the servo drive panel should display "rdy"
24 |(% 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/Manual/02%20VD2%20SA%20Series/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__
26
27 ✎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>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__
28 )))
29 |(% style="vertical-align:middle; width:163px" %)Control mode error|(% style="vertical-align:middle" %)Check whether the parameter P00-01 is set correctly
30 |(% 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>>||anchor="HFaultsandwarningshandlingduringoperation"]]
31 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo drive panel should display "run"
32 |(% 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(((
33 1. Confirm whether DI terminal uses forward drive prohibited (DI function 3: POT) or reverse drive prohibited (DI function 4: NOT).
34 1. Confirm whether DI terminal uses instruction pulse input prohibited (DI function 11: INH)
35 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__
36 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/Manual/02%20VD2%20SA%20Series/09%20Parameters/#HGroupP07multi-segmentposition]]__
37 )))
38 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
39 |(% 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.
40 |(% 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.
41 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
42 |(% 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" %)(((
43 ✎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.
44
45 ✎Confirm whether the device is vibrating. If yes, adjust the gain.
46
47 ✎Confirm whether the coupling at the motor shaft is locked.
48 )))
49
50 == **Speed control mode** ==
51
52 |=(% 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**
53 |(% rowspan="5" style="vertical-align:middle" %)(((
54 Power supply
55
56 (L1, L2, L3)
57
58 Turn on control supply (L1C, L2C)
59 )))|(% rowspan="3" style="vertical-align:middle" %)(((
60 1. Digital tube does not light up
61 1. Voltage indicator does not light up
62 )))|Control terminal is disconnected|(((
63 ✎Rewiring
64
65 ✎L1C and L2C power lines are led separately from the socket
66 )))
67 |Control the supply voltage failure|Measures the AC voltage between L1C &L2C.
68 |Servo drive fault|Contact the agent or customer service
69 |(% style="vertical-align:middle" %)Panel display “Er.xx”|(% colspan="2" %)Refer to [[10.2 Handling of faults and warnings during operation>>||anchor="HFaultsandwarningshandlingduringoperation"]]
70 |(% colspan="3" style="vertical-align:middle" %)After removing the fault, the servo drive panel should display "rdy"
71 |(% 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|(((
72 ✎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/Manual/02%20VD2%20SA%20Series/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__
73
74 ✎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>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__
75 )))
76 |Control mode error|Check whether the parameter P00-01 is set correctly
77 |(% style="vertical-align:middle" %)Panel display Er.xx|(% colspan="2" %)Refer to [[10.2 Handling of faults and warnings during operation>>||anchor="HFaultsandwarningshandlingduringoperation"]]
78 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo drive panel should display "run"
79 |(% 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|(((
80 ✎AI wiring error
81
82 When selecting analog input signal, make sure that the connection of analog input terminal is correct. Refer to__[[ 4 Wiring>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__.
83
84 ✎Not input speed instruction or speed instruction abnormal
85
86 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.
87 1. When the internal speed instruction is given, please confirm P01-02 (internal speed instruction )is 0.
88 1. When using multi-segment speed function, please confirm the internal speed instruction parameters 0 to 7 of group P01 are right.
89 1. Please confirm whether the ZERO-speed clamp function is used for the DI terminal. (DI function 5: ZCLAMP)
90 )))
91 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
92 |(% 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.
93 |(% 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.
94 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
95
96 ✎**Note: **VD2F and VD2L do not support monitoring u0-21 and U0-22.
97
98 == **Torque control mode** ==
99
100 |=(% 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**
101 |(% rowspan="5" style="vertical-align:middle" %)(((
102 Power supply
103
104 (L1, L2, L3)
105
106 Turn on control supply (L1C, L2C)
107 )))|(% rowspan="3" style="vertical-align:middle" %)(((
108 1. Digital tube does not light up
109 1. Voltage indicator does not light up
110 )))|(% style="vertical-align:middle" %)Control terminal is disconnected|(% style="vertical-align:middle" %)(((
111 ✎Rewiring
112
113 ✎L1C and L2C power lines are led separately from the socket
114 )))
115 |(% style="vertical-align:middle" %)Control the supply voltage failure|(% style="vertical-align:middle" %)Measures the AC voltage between L1C &L2C.
116 |(% style="vertical-align:middle" %)Servo drive fault|(% style="vertical-align:middle" %)Contact the agent or customer service
117 |(% 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>>||anchor="HFaultsandwarningshandlingduringoperation"]]
118 |(% colspan="3" style="vertical-align:middle" %)After removing the fault, the servo drive panel should display "rdy"
119 |(% 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" %)(((
120 ✎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/Manual/02%20VD2%20SA%20Series/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__
121
122 ✎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>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__
123 )))
124 |(% style="vertical-align:middle" %)Control mode error|(% style="vertical-align:middle" %)Check whether the parameter P00-01 is set correctly
125 |(% 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>>||anchor="HFaultsandwarningshandlingduringoperation"]]
126 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo drive panel should display "run"
127 |(% 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" %)(((
128 ✎AI wiring error
129
130 When selecting analog input signal, make sure that the connection of analog input terminal is correct. Refer to__[[ 4 Wiring>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__.
131
132 ✎Not input torque instruction
133
134 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.
135 1. When the internal speed instruction is given, please confirm P01-08 (torque instruction keyboard set value) is 0.
136 )))
137 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
138 |(% 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.
139 |(% 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.
140 |(% colspan="3" %)After troubleshooting, the servo motor should be able to rotate normally
141
142 ✎**Note: **VD2F and VD2L do not support monitoring u0-21 and U0-22.
143
144 = **Faults and warnings handling during operation ** =
145
146 == **Overview** ==
147
148 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:
149
150 * Category 1: faults cannot be cleared;
151 * Category 2: faults are clearable;
152 * Category 3: faults are clearable;
153 * Category 4: warnings are clearable.
154
155 Among them, "clearable" means that the panel stops the fault display state by giving a "clear signal". The specific operations are as follows:
156
157 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.
158 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.
159 1. The clearing method of category 4 of clearable warnings: set P10-03=1 or use DI function 02.
160
161 |(% style="text-align:center; vertical-align:middle" %)(((
162 (% style="text-align:center" %)
163 [[image:ksjakfjk.png]]
164 )))
165 |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.
166
167 Associated function codes
168
169 |=(% 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;" %)(((
170 **Setting method**
171 )))|=(% style="text-align: center; vertical-align: middle; width: 181px;" %)(((
172 **Effective time**
173 )))|=(% 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**
174 |(% 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" %)(((
175 Operation setting
176 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
177 immediately Effective
178 )))|(% 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" %)(((
179 0: No operation
180
181 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.
182
183 ✎**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.
184 )))|(% style="text-align:center; vertical-align:middle" %)-
185
186 Associated function number:
187
188 |(% style="text-align:center; vertical-align:middle" %)**Code**|(% style="text-align:center; vertical-align:middle; width:108px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:303px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:779px" %)**Function**
189 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle; width:108px" %)A-CLR|(% style="text-align:center; vertical-align:middle; width:303px" %)Fault and warning clearing|(% style="width:779px" %)(((
190 DI port logic is invalid, no reset faults and warnings
191
192 DI port logic is valid, reset faults and warnings
193 )))
194
195 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.
196
197 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/Manual/02%20VD2%20SA%20Series/09%20Parameters/#HGroupU1Warningmonitoring]]__.
198
199 == **Fault and warning code table** ==
200
201 **The first category (category 1 for short) The fault could not be cleared**
202
203 |=(% style="width: 114px;" %)**Category**|=(% style="width: 300px;" %)**Error name**|=(% style="width: 92px;" %)**Fault code**|=(% style="width: 330px;" %)**Content**|=(% style="width: 105px;" %)**Whether Clearable**|=(% style="width: 135px;" %)**Operation**
204 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Parameter destruction|(% style="width:92px" %)Er.01|(% style="width:330px" %)Abnormal servo internal parameters|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
205 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Parameter storage error|(% style="width:92px" %)Er.02|(% style="width:330px" %)Abnormal servo internal parameters|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
206 |(% style="width:114px" %)Category 1|(% style="width:300px" %)ADC reference source faults|(% style="width:92px" %)Er.03|(% style="width:330px" %)Abnormal ADC reference source|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
207 |(% 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
208 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Abnormal FPGA communication|(% style="width:92px" %)Er.05|(% style="width:330px" %)Abnormal FPGA communication|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
209 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Wrong FPGA program version|(% style="width:92px" %)Er.06|(% style="width:330px" %)Wrong FPGA program version|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
210 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Clock abnormal|(% style="width:92px" %)Er.07|(% style="width:330px" %)Clock abnormal|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
211 |(% style="width:114px" %)Category 1|(% style="width:300px" %)ADC conversion undone|(% style="width:92px" %)Er.60|(% style="width:330px" %)ADC conversion error|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
212 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.61|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
213 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.62|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
214 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.63|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
215 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.64|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
216 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.65|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
217 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Motor model error|(% style="width:92px" %)Er.26|(% style="width:330px" %)Motor model error|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
218 |(% style="width:107px" %)Category 1|(% style="width:233px" %)Encoder disconnection|Er.27|The encoder cable is incorrectly connected|No|Stop immediately
219 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Encoder Z pulse lost|(% style="width:92px" %)Er.28|(% style="width:330px" %)Encoder Z pulse lost|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
220 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Encoder UVW signal error|(% style="width:92px" %)Er.30|(% style="width:330px" %)Encoder UVW signal error|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
221 |(% style="width:114px" %)Category 1|(% style="width:300px" %)(((
222 Exceeds motor
223
224 maximum speed
225 )))|(% style="width:92px" %)Er.32|(% style="width:330px" %)(((
226 Exceeds motor
227
228 maximum speed
229 )))|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
230 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Over current|(% style="width:92px" %)Er.20|(% style="width:330px" %)Servo drive hardware overcurrent|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
231 |(% 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
232 |Category 1| Motor model error|Er.26| Wrong servo motor model|No|Stop immediately
233 |Category 1| Encoder disconnection|Er.27| Encoder cable wiring errors|No|Stop immediately
234 |Category 1| Encoder Z-pulse loss|Er.28| Encoder Z-pulse loss|No|Stop immediately
235 |Category 1| Encoder UVW signal error|Er.30| Encoder UVW signal error|No|Stop immediately
236 |Category 1| Exceeding the maximum speed of the motor|Er.32| Motor speed exceeding the maximum speed limit|No|Stop immediately
237 |Category 1| ADC conversion not completed|Er.60| The ADC conversion is abnormal|No|Stop immediately
238 |Category 1| Internal software fault|Er.61| Abnormality occurred in the internal program of the servo unit|No|Stop immediately
239 |Category 1| Internal software fault|Er.62| Abnormality occurred in the internal program of the servo unit|No|Stop immediately
240 |Category 1| Internal software fault|Er.63| Abnormality occurred in the internal program of the servo unit|No|Stop immediately
241 |Category 1| Internal software fault|Er.64| Abnormality occurred in the internal program of the servo unit|No|Stop immediately
242 |Category 1| Internal software fault|Er.65| Abnormality occurred in the internal program of the servo unit|No|Stop immediately
243
244 **The 2nd category (category 2 for short) clearable faults**
245
246 |=(% style="width: 107px;" %)**Category**|=(% style="width: 233px;" %)**Error name**|=**Fault code**|=**Content**|=**Whether Clearable**|=**Operation**
247 |(% style="width:107px" %)Category 2|(% style="width:233px" %)Main power supply overvoltage|Er.22|Main power supply overvoltage|Yes|Stop immediately
248 |(% style="width:107px" %)Category 2|(% style="width:233px" %)Power line disconnection|Er.31|The power cable is incorrectly connected|Yes|Stop immediately
249
250 **The 3rd Category (category 3 for short) clearable faults**
251
252 |=(% style="width: 109px;" %)**Category**|=(% style="width: 277px;" %)**Error name**|=**Fault code**|=**Content**|=**Whether Clearable**|=**Operation**
253 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Main power supply under voltage|Er.21|Main power supply under voltage|Yes|Stop immediately
254 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Braking resistor is not connected|Er.23|Braking resistor is not connected|Yes|Stop immediately
255 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Braking resistor resistance is too large|Er.25|Braking resistor resistance is too large|Yes|Stop immediately
256 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Power module is over temperature|Er.33|Power module is over temperature|Yes|Stop immediately
257 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Motor overload protection|Er.34|Motor overload protection|Yes|Stop immediately
258 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Electronic gear ratio exceeds limit|Er.35|Electronic gear ratio exceeds limit|Yes|Stop immediately
259 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Position deviation is too large|Er.36|Position deviation is too large|Yes|Stop immediately
260 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Torque saturation abnormal|Er.37|Torque saturation abnormal|Yes|Stop immediately
261 |(% style="width:109px" %)Category 3|(% style="width:277px" %)(((
262 Main circuit electricity
263
264 is lack of phase
265 )))|Er.38|(((
266 Main circuit electricity
267
268 is lack of phase
269 )))|Yes|Stop immediately
270 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Emergency stop|Er.39|Triggered the emergency stop signal|Yes|Stop immediately
271 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Encoder battery failure|Er.40|Encoder battery failure|Yes|Stop immediately
272 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Motor (encoder) over temperature|Er.41|Motor (encoder) over temperature|Yes|Stop immediately
273 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Encoder write faults|Er.42|The encoder fails to write data|Yes|Stop immediately
274 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Drive overload alarm|Er.43|The drive exceeds the power limit for more than 20 minutes|Yes|Stop immediately
275 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Drive stall over temperature alarm|Er.45|The drive controls the motor and it is stalled|Yes|Stop immediately
276
277 **The 4th category (category 4 for short) clearable warnings**
278
279 |=(% style="width: 100px;" %)**Category**|=(% style="width: 294px;" %)**Error name**|=**Fault code**|=(% style="width: 392px;" %)**Content**|=(% style="width: 96px;" %)**Whether Clearable**|=(% style="width: 115px;" %)**Operation**
280 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Overspeed alarm|A-81|(% style="width:392px" %)Motor exceeds the speed limit|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
281 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Overload|A-82|(% style="width:392px" %)The motor was run continuously with a torque exceeding the rated value|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
282 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Braking resistor is over temperature or overloaded|A-83|(% style="width:392px" %)Braking resistor is over temperature or overloaded|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
283 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Parameter modification that needs to be powered on again|A-84|(% style="width:392px" %)Modify the parameter that needs to be powered on again|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
284 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Receive position pulse when servo is OFF|A-85|(% style="width:392px" %)Servo drive receives position pulse when it is OFF|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
285 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Input pulse frequency is too high|A-86|(% style="width:392px" %)Input pulse frequency is too high|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
286 |(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
287 Main circuit momentary
288
289 power off
290 )))|A-88|(% style="width:392px" %)(((
291 Main circuit momentary
292
293 power off
294 )))|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
295 |(% style="width:100px" %)Category 4|(% style="width:294px" %)DI port configuration is duplicate|A-89|(% style="width:392px" %)DI port configuration is duplicate|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
296 |(% style="width:100px" %)Category 4|(% style="width:294px" %)DO port configuration is duplicate|A-90|(% style="width:392px" %)DO port configuration is duplicate|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
297 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Parameter modification is too frequent|A-91|(% style="width:392px" %)Parameter modification is too frequent|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
298 |(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
299 low encoder battery voltage
300
301 Warning
302 )))|A-92|(% style="width:392px" %)The battery voltage of encoder is less than 3.1V|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
303 |(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
304 Encoder read and write
305
306 check abnormal and frequency is too high
307 )))|A-93|(% style="width:392px" %)(((
308 Encoder read and write
309
310 check abnormal and frequency is too high
311 )))|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
312
313 = **Troubleshooting** =
314
315 **Er.01 Parameter destruction**
316
317 Fault
318
319 |=(% style="width: 460px;" %)**Servo drive panel display**|=(% style="width: 615px;" %)**Fault name**
320 |(% style="width:460px" %)(((
321 (% style="text-align:center" %)
322 [[image:image-20220709173736-1.png]]
323 )))|(% style="width:615px" %)Parameter destruction
324
325 Troubleshooting
326
327 |=(% style="width: 310px;" %)**Reason**|=(% style="width: 516px;" %)**Troubleshooting methods**|=(% style="width: 250px;" %)**Handling**
328 |(% style="width:310px" %)EEPROM could not be read and written|(% style="width:516px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:250px" %)Please contact the technician.
329
330 **Er.02 Parameter storage error**
331
332 Fault
333
334 |=(% style="width: 604px;" %)**Servo drive panel display**|=(% style="width: 817px;" %)**Fault name**
335 |(% style="width:604px" %)(((
336 (% style="text-align:center" %)
337 [[image:image-20220709165407-2.png]]
338 )))|(% style="width:817px" %)Parameter storage error
339
340 Troubleshooting
341
342 |=(% style="width: 245px;" %)**Reason**|=(% style="width: 423px;" %)**Troubleshooting methods**|=(% style="width: 408px;" %)**Handling**
343 |(% style="width:245px" %)Firmware upgraded|(% style="width:423px" %)Check whether the program has been upgraded.|(% style="width:408px" %)Power on the servo drive again
344 |(% style="width:245px" %)Parameter read and write exceptions|(% style="width:423px" %)After a parameter is changed, power it on again and check whether the parameter is saved|(% style="width:408px" %)If the parameters are not saved after multiple power-on, contact technician.
345 |(% style="width:245px" %)Servo drive firmware faulty|(% style="width:423px" %)(((
346 Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
347
348 VD2-0xxSA1G model: earlier than V1.14.
349
350 VD2F-0xxSA1P model: earlier than V1.02
351 )))|(% style="width:408px" %)(((
352 VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
353
354 VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
355 )))
356
357 **Er.03 ADC reference source fault**
358
359 Fault
360
361 |=(% style="width: 459px;" %)**Servo drive panel display**|=(% style="width: 617px;" %)**Fault name**
362 |(% style="width:459px" %)(((
363 (% style="text-align:center" %)
364 [[image:image-20220709165412-3.png]]
365 )))|(% style="width:617px" %)ADC reference source fault
366
367 Troubleshooting
368
369 |=(% style="width: 284px;" %)**Reason**|=(% style="width: 495px;" %)**Troubleshooting methods**|=(% style="width: 297px;" %)**Handling**
370 |(% style="width:284px" %)The internal analog reference source of the drive is not accurate|(% style="width:495px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:297px" %)If there is still alarm after multiple power-on, contact the technician.
371
372 **Er.04 AD current sampling conversion error**
373
374 Fault
375
376 |=**Servo drive panel display**|=**Fault name**
377 |(((
378 (% style="text-align:center" %)
379 [[image:image-20220709165421-4.png]]
380 )))|AD current sampling conversion error
381
382 Troubleshooting
383
384 |=(% style="width: 248px;" %)**Reason**|=(% style="width: 508px;" %)**Troubleshooting methods**|=(% style="width: 320px;" %)**Handling**
385 |(% style="width:248px" %)Current sampling timeout|(% rowspan="2" style="width:508px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% rowspan="2" style="width:320px" %)If there is still alarm after multiple power-on, contact the technician.
386 |(% style="width:248px" %)current sensor error
387
388 **Er.05 FPGA communication abnormal**
389
390 Fault
391
392 |=(% style="width: 467px;" %)**Servo drive panel display**|=(% style="width: 608px;" %)**Fault name**
393 |(% style="width:467px" %)(((
394 (% style="text-align:center" %)
395 [[image:image-20220709165428-5.png]]
396 )))|(% style="width:608px" %)FPGA communication abnormal
397
398 Troubleshooting
399
400 |=(% style="width: 253px;" %)**Reason**|=(% style="width: 504px;" %)**Troubleshooting methods**|=**Handling**
401 |(% style="width:253px" %)FPGA communication abnormal|(% style="width:504px" %)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.
402
403 **Er.06 Wrong FPGA program version**
404
405 Fault
406
407 |=(% style="width: 460px;" %)**Servo drive panel display**|=(% style="width: 615px;" %)**Fault name**
408 |(% style="width:460px" %)(((
409 (% style="text-align:center" %)
410 [[image:image-20220709165434-6.png]]
411 )))|(% style="width:615px" %)Wrong FPGA program version
412
413 Troubleshooting
414
415 |=**Reason**|=(% style="width: 482px;" %)**Troubleshooting methods**|=(% style="width: 327px;" %)**Handling**
416 |The FPGA program version does not match firmware version|(% style="width:482px" %)Check whether the monitoring quantity of servo drive U2-04 (firmware version) and U2-05 (hardware version) conform to the following table|(% style="width:327px" %)Contact technical to upgrade FPGA (hardware version)
417 |Servo drive fault|(% style="width:482px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:327px" %)If there is still alarm after multiple power-on, contact the technician.
418
419 |=**Firmware version**|=**Hardware version**
420 |1.00|1.00
421 |1.10|1.01
422 |1.11|1.01
423 |1.12|1.01
424 |1.13|1.01
425 |1.14|1.01
426
427 Table 10-1 The firmware version and hardware version relationship of VD2-0SA1G servo drive
428
429 **Er.07 Clock abnormal**
430
431 Fault
432
433 |=(% style="width: 475px;" %)**Servo drive panel display**|=(% style="width: 600px;" %)**Fault name**
434 |(% style="width:475px" %)(((
435 (% style="text-align:center" %)
436 [[image:image-20220709165440-7.png]]
437 )))|(% style="width:600px" %)Clock abnormal
438
439 Troubleshooting
440
441 |=(% style="width: 226px;" %)**Reason**|=(% style="width: 492px;" %)**Troubleshooting methods**|=(% style="width: 358px;" %)**Handling**
442 |(% rowspan="2" style="width:226px" %)External interference|(% style="width:492px" %)Check for strong magnetic fields nearby|(% style="width:358px" %)Eliminate nearby strong magnetic interference
443 |(% style="width:492px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:358px" %)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.
444 |(% style="width:226px" %)Servo drive fault|(% style="width:492px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:358px" %)If there is still alarm after multiple power-on, contact the technician.
445
446 **Er.20 Overcurrent**
447
448 Fault
449
450 |=(% style="width: 470px;" %)**Servo drive panel display**|=(% style="width: 605px;" %)**Fault name**
451 |(% style="width:470px" %)(((
452 (% style="text-align:center" %)
453 [[image:image-20220709165445-8.png]]
454 )))|(% style="width:605px" %)Overcurrent
455
456 Troubleshooting
457
458 |=(% style="width: 249px;" %)**Reason**|=(% style="width: 481px;" %)**Troubleshooting methods**|=(% style="width: 346px;" %)**Handling**
459 |(% style="width:249px" %)The UVW phase sequence of motor power cable is incorrect|(% style="width:481px" %)Check whether the phase sequence of the motor power cable on the servo drive side and motor side corresponds to each other.|(% style="width:346px" %)Connect correctly according to UVW on the drive side and UVW on the motor side
460 |(% style="width:249px" %)Motor power lines are short-circuited|(% style="width:481px" %)Check whether power line UVW is short-circuited to PE|(% style="width:346px" %)Replace motor power line
461 |(% style="width:249px" %)The motor power line wiring port is poorly contacted|(% style="width:481px" %)Check whether the motor power line connection port is connected reliably|(% style="width:346px" %)Tighten the fixing screws of the motor power line connection ports
462 |(% rowspan="4" style="width:249px" %)Abnormal braking resistance|(% style="width:481px" %)Internal brake resistance wiring error: check whether C, D are connected to the short cap and the contact is normal|(% style="width:346px" %)Connect the short cap or short wire between C and D reliably
463 |(% style="width:481px" %)External braking resistor wiring error: Check whether the external resistor is connected reliably between P+ and C.|(% style="width:346px" %)External braking resistance is reliably strung between P+ and C
464 |(% style="width:481px" %)Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.|(% style="width:346px" %)(((
465 Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
466
467 Contact technician to replace the internal braking resistor
468 )))
469 |(% style="width:481px" %)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|(% style="width:346px" %)Choose a suitable external braking resistor
470 |(% rowspan="3" style="width:249px" %)Encoder wiring error; loose plug|(% style="width:481px" %)Check whether the cable port (CN1) of the encoder is properly connected|(% style="width:346px" %)Tighten the fixing screws on the CN1 port
471 |(% style="width:481px" %)Check whether the servo drive CN1 port jack is deformed|(% style="width:346px" %)If the cable is deformed, replace the cable or its port
472 |(% style="width:481px" %)Check whether both ends of the rectangular connector are reliably connected|(% style="width:346px" %)Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
473 |(% rowspan="2" style="width:249px" %)Unreasonable parameter settings|(% style="width:481px" %)Check whether P03-02 (Load rigidity Level) is set properly|(% style="width:346px" %)Reduce the P03-02 (load stiffness level) setting value appropriately
474 |(% style="width:481px" %)Check whether the gain parameters are set properly, resulting in overshoot|(% style="width:346px" %)Adjust gain parameters reasonably
475 |(% style="width:249px" %)Frequent acceleration and deceleration|(% style="width:481px" %)Check whether the acceleration and deceleration motion is frequent or the acceleration and deceleration time is too small|(% style="width:346px" %)Appropriately extend the acceleration and deceleration time
476 |(% style="width:249px" %)Internal servo drive fault|(% style="width:481px" %)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.|(% style="width:346px" %)Contact technician for repair
477
478 **Er.21 Main power supply undervoltage**
479
480 Fault
481
482 |=(% style="width: 467px;" %)**Servo drive panel display**|=(% style="width: 608px;" %)**Fault name**
483 |(% style="width:467px" %)(((
484 (% style="text-align:center" %)
485 [[image:image-20220709165459-10.png]]
486 )))|(% style="width:608px" %)Main power supply undervoltage
487
488 Reason: DC bus voltage is lower than the fault value.
489
490 * 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 200V.
491 * 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 420V.
492
493 Troubleshooting
494
495 |=(% style="width: 255px;" %)**Reason**|=(% style="width: 466px;" %)**Troubleshooting methods**|=(% style="width: 355px;" %)**Handling**
496 |(% style="width:255px" %)Power-off when VD2A drive is enabled|(% style="width:466px" %)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”.|(% style="width:355px" %)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.
497 |(% style="width:255px" %)The power supply is unstable or OFF.|(% style="width:466px" %)Check whether the drive input power specifications meet the following specifications:
498 220V drive: Valid value is 198V to 242V.
499 380V drive: Valid value is 342V to 440V.|(% style="width:355px" %)Use after the power supply is stable;
500 Increase power supply capacity
501 |(% style="width:255px" %)The voltage drops during operation of the servo drive|(% style="width:466px" %)Check whether the servo drive shares the same power supply with other high loads|(% style="width:355px" %)(((
502 Turn off other loads from the same main circuit power supply.
503
504 Separate power supply for servo drives
505 )))
506 |(% style="width:255px" %)Missing phase (3-phase power supply operating on single-phase power)|(% style="width:466px" %)(((
507 Check if the main circuit wiring is correct
508
509 VD2A: single-phase 220V input connected to L1, L3.
510
511 VD2 B: single-phase 220V input connected to L1, L3, and single-phase 220V input connected to L1C, L2C.
512
513 VD2 B: three-phase 220V input connected to L1, L2, L3.
514
515 VD2F: single-phase 220V input connected to L1, L2
516 )))|(% style="width:355px" %)Connect the main circuit wiring correctly
517 |(% style="width:255px" %)Internal servo drive fault|(% style="width:466px" %)Observe whether the monitoring quantity U0-31 (bus voltage) is in the following range:
518 220V drive: U0-31 less than 200V;
519 380V drive: U0-31 less than 400V.|(% style="width:355px" %)Contact technician for repair
520
521 **Er.22 Main power supply overvoltage**
522
523 Fault
524
525 |=(% style="width: 457px;" %)**Servo drive panel display**|=(% style="width: 618px;" %)**Fault name**
526 |(% style="width:457px" %)(((
527 (% style="text-align:center" %)
528 [[image:image-20220709165541-11.png]]
529 )))|(% style="width:618px" %)Main power supply overvoltage
530
531 Reason: DC bus voltage is bigger than the fault value.
532
533 1. 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 390V.
534 1. 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 670V.
535
536 Troubleshooting
537
538 |=(% style="width: 236px;" %)**Reason**|=(% style="width: 476px;" %)**Troubleshooting methods**|=(% style="width: 364px;" %)**Handling**
539 |(% style="width:236px" %)The input voltage is too high|(% style="width:476px" %)Check whether the drive input power specifications meet the following specifications:
540 220V drive: Valid value is 198V to 242V.
541 380V drive: Valid value is 342V to 440V.|(% style="width:364px" %)Replace or adjust power supply
542 |(% style="width:236px" %)The power supply is not stable or struck by lightning|(% style="width:476px" %)Check whether the input power supply of the servo drive meets the specifications and monitor whether it has been struck by lightning.|(% style="width:364px" %)(((
543 used after the power supply is stable
544
545 Connect to surge suppressor
546 )))
547 |(% rowspan="4" style="width:236px" %)Abnormal braking resistance|(% style="width:476px" %)Internal brake resistance wiring error: check whether C, D are connected to the short cap and the contact is normal|(% style="width:364px" %)Connect the short cap or short wire between C and D reliably
548 |(% style="width:476px" %)External braking resistor wiring error: Check whether the external resistor is connected reliably between P+ and C.|(% style="width:364px" %)External braking resistance is reliably strung between P+ and C
549 |(% style="width:476px" %)Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.|(% style="width:364px" %)(((
550 Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
551
552 Contact technician to replace the internal braking resistor
553 )))
554 |(% style="width:476px" %)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.|(% style="width:364px" %)Choose a suitable external braking resistor
555 |(% style="width:236px" %)The motor is in a state of rapid acceleration and deceleration motion|(% style="width:476px" %)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.|(% style="width:364px" %)Ensure that the input voltage is within specification and increase acceleration and deceleration times
556 |(% style="width:236px" %)Internal servo drive fault|(% style="width:476px" %)The servo drive is still faulty after power on again|(% style="width:364px" %)Servo drive may be damaged.Contact technician for repair
557
558 **Er.23 Braking resistor is not connected**
559
560 Fault
561
562 |=(% style="width: 464px;" %)**Servo drive panel display**|=(% style="width: 611px;" %)**Fault name**
563 |(% style="width:464px" %)(((
564 (% style="text-align:center" %)
565 [[image:image-20220709165550-12.png]]
566 )))|(% style="width:611px" %)Braking resistor is not connected
567
568 Troubleshooting
569
570 |=(% style="width: 244px;" %)**Reason**|=(% style="width: 440px;" %)**Troubleshooting methods**|=(% style="width: 392px;" %)**Handling**
571 |(% style="width:244px" %)Internal brake resistance wiring error|(% style="width:440px" %)Check whether C, D are connected to the short cap and the contact is normal|(% style="width:392px" %)When using an internal braking resistor, reliably connect the shorting cap or shorting wire between C and D
572 |(% style="width:244px" %)External braking resistor wiring error|(% style="width:440px" %)Check whether the external resistor is connected reliably between P+ and C.|(% style="width:392px" %)When using an external braking resistor, the external resistor is reliably strung between P+ and C
573 |(% style="width:244px" %)Internal braking resistor damaged|(% style="width:440px" %)The servo drive is powered off. Detects whether the resistance between P+ and D is 50Ω|(% style="width:392px" %)(((
574 Contact the technician to replace the internal braking resistor.
575
576 Use an external braking resistor and change the relevant parameters of the P00 "Basic Settings".
577 )))
578
579 **Er.24 Braking resistor turns on abnormally**
580
581 Fault
582
583 |=**Servo drive panel display**|=**Fault name**
584 |(((
585 (% style="text-align:center" %)
586 [[image:image-20220709163326-60.png]]
587 )))|Braking resistor is not connected
588
589 Troubleshooting
590
591 |=(% style="width: 236px;" %)**Reason**|=(% style="width: 460px;" %)**Troubleshooting methods**|=(% style="width: 380px;" %)**Handling**
592 |(% style="width:236px" %)Internal servo drive fault|(% style="width:460px" %)The servo drive is still faulty after power on again|(% style="width:380px" %)Servo drive may be damaged.Contact technician for repair
593
594 **Er.25 Braking resistor resistance is too large**
595
596 Fault
597
598 |=**Servo drive panel display**|=**Fault name**
599 |(((
600 (% style="text-align:center" %)
601 [[image:image-20220709165610-14.png]]
602 )))|Braking resistor resistance is too large
603
604 Troubleshooting
605
606 |=(% style="width: 239px;" %)**Reason**|=(% style="width: 475px;" %)**Troubleshooting methods**|=(% style="width: 362px;" %)**Handling**
607 |(% style="width:239px" %)The resistance value of the external braking resistor is too large|(% style="width:475px" %)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.|(% style="width:362px" %)Choose a suitable external braking resistor
608 |(% style="width:239px" %)Unreasonable parameter settings|(% style="width:475px" %)Check whether the value of servo drive P00-10 (external brake resistance) is set too high|(% style="width:362px" %)Reasonably set the P00-10 (external braking resistor resistance) parameter value
609 |(% style="width:239px" %)Servo drive firmware fault|(% style="width:475px" %)(((
610 Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
611
612 VD2-0xxSA1G model: earlier than V1.14.
613
614 VD2F-0xxSA1P model: earlier than V1.02
615 )))|(% style="width:362px" %)(((
616 VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
617
618 VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
619 )))
620
621 **Er.26 Braking resistor resistance is too large**
622
623 Fault
624
625 |=**Servo drive panel display**|=**Fault name**
626 |(((
627 (% style="text-align:center" %)
628 [[image:image-20220709165622-15.png]]
629 )))|Motor code wrong
630
631 Troubleshooting
632
633 |=(% style="width: 242px;" %)**Reason**|=(% style="width: 456px;" %)**Troubleshooting methods**|=(% style="width: 378px;" %)**Handling**
634 |(% style="width:242px" %)Servo drives do not support this motor|(% style="width:456px" %)Check whether the servo driver model supports the motor|(% style="width:378px" %)Contact technical for suitable recommendations of servo drive model or motor model.
635 |(% style="width:242px" %)Wrong motor model|(% style="width:456px" %)Check whether the Motor Code is consistent with the Motor nameplate|(% style="width:378px" %)Contact technician to record the motor Motor Code
636
637 **Er.27 Encoder disconnection**
638
639 Fault
640
641 |=(% style="width: 466px;" %)**Servo drive panel display**|=(% style="width: 609px;" %)**Fault name**
642 |(% style="width:466px" %)(((
643 (% style="text-align:center" %)
644 [[image:image-20220709165628-16.png]]
645 )))|(% style="width:609px" %)Encoder disconnection
646
647 Troubleshooting
648
649 |=(% style="width: 254px;" %)**Reason**|=(% style="width: 436px;" %)**Troubleshooting methods**|=(% style="width: 386px;" %)**Handling**
650 |(% rowspan="2" style="width:254px" %)Poor contact on CN1 port|(% style="width:436px" %)Check whether the cable port (CN1) of the encoder is properly connected|(% style="width:386px" %)Tighten the fixing screws on the CN1 port
651 |(% style="width:436px" %)Check whether the servo drive CN1 port jack is deformed|(% style="width:386px" %)If the cable is deformed, replace the cable or its port
652 |(% style="width:254px" %)Poor contact on adapter port (Rectangular connection cable)|(% style="width:436px" %)Check whether both ends of the rectangular connector are reliably connected|(% style="width:386px" %)Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
653 |(% style="width:254px" %)Wrong encoder cable wiring|(% style="width:436px" %)Check whether the both ends of the encoder cable are correctly connected|(% style="width:386px" %)Adjust wiring according to the corresponding relationship of pins;
654 The standard encoder cable of the manufacturer is preferred.
655
656 **Er.28 Encoder Z pulse lost**
657
658 Fault
659
660 |=(% style="width: 463px;" %)**Servo drive panel display**|=(% style="width: 612px;" %)**Fault name**
661 |(% style="width:463px" %)(((
662 (% style="text-align:center" %)
663 [[image:image-20220709165633-17.png]]
664 )))|(% style="width:612px" %)Encoder Z pulse lost
665
666 Troubleshooting
667
668 |=(% style="width: 227px;" %)**Reason**|=(% style="width: 448px;" %)**Troubleshooting methods**|=(% style="width: 401px;" %)**Handling**
669 |(% style="width:227px" %)Wrong motor model|(% style="width:448px" %)Check whether the Motor Code is consistent with the Motor nameplate|(% style="width:401px" %)Contact technician to record the motor Motor Code
670 |(% rowspan="2" style="width:227px" %)External interference|(% style="width:448px" %)Check for strong magnetic fields nearby|(% style="width:401px" %)Eliminate nearby strong magnetic interference
671 |(% style="width:448px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:401px" %)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.
672 |(% style="width:227px" %)Encoder fault|(% style="width:448px" %)Manually rotate the motor shaft counterclockwise or clockwise to observe whether the monitoring quantity U0-30 (electrical angle) changes regularly|(% style="width:401px" %)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.
673
674 **Er.30 Encoder UVW signal error**
675
676 Fault
677
678 |=(% style="width: 470px;" %)**Servo drive panel display**|=(% style="width: 605px;" %)**Fault name**
679 |(% style="width:470px" %)(((
680 (% style="text-align:center" %)
681 [[image:image-20220709165638-18.png]]
682 )))|(% style="width:605px" %)Encoder UVW signal error
683
684 Troubleshooting
685
686 |=(% style="width: 212px;" %)**Reason**|=(% style="width: 463px;" %)**Troubleshooting methods**|=(% style="width: 401px;" %)**Handling**
687 |(% style="width:212px" %)External interference|(% style="width:463px" %)Check that the motor and servo drive are well grounded|(% style="width:401px" %)Motor and servo drive are well grounded
688 |(% style="width:212px" %)Encoder cable fault|(% style="width:463px" %)Cross-verification. Use the normal motor, encoder cable to connect to the servo drive.|(% style="width:401px" %)Replace it with an encoder cable with higher connection reliability.
689 |(% style="width:212px" %)Servo drive fault|(% style="width:463px" %)The servo drive is still faulty after power on again|(% style="width:401px" %)Servo drive may be damaged.Contact technician for repair
690
691 **Er.31 Power line disconnection**
692
693 Fault
694
695 |=(% style="width: 468px;" %)**Servo drive panel display**|=(% style="width: 607px;" %)**Fault name**
696 |(% style="width:468px" %)(((
697 (% style="text-align:center" %)
698 [[image:image-20220709165643-19.png]]
699 )))|(% style="width:607px" %)Power line disconnection
700
701 Troubleshooting
702
703 |=(% style="width: 248px;" %)**Reason**|=(% style="width: 397px;" %)**Troubleshooting methods**|=(% style="width: 431px;" %)**Handling**
704 |(% style="width:248px" %)The motor power line wiring port is poorly contacted|(% style="width:397px" %)Check whether the motor power line connection port is connected reliably|(% style="width:431px" %)Tighten the fixing screws of the motor power line connection ports
705 |(% style="width:248px" %)The power cable is disconnected|(% style="width:397px" %)Check the power cable for disconnections at both ends|(% style="width:431px" %)Replace the power cable and power on again.
706 |(% style="width:248px" %)Poor contact on adapter port (Rectangular connection cable)|(% style="width:397px" %)Check whether both ends of the rectangular connector are reliably connected|(% style="width:431px" %)Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
707
708 **Er.32 Exceeds motor maximum speed**
709
710 Fault
711
712 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
713 |(% style="width:465px" %)(((
714 (% style="text-align:center" %)
715 [[image:image-20220709165647-20.png]]
716 )))|(% style="width:610px" %)Exceeds motor maximum speed
717
718 Troubleshooting
719
720 |=(% style="width: 300px;" %)**Reason**|=(% style="width: 423px;" %)**Troubleshooting methods**|=(% style="width: 353px;" %)**Handling**
721 |(% style="width:300px" %)The UVW phase sequence of motor power cable is incorrect|(% style="width:423px" %)Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.|(% style="width:353px" %)Connect correctly according to UVW on the drive side and UVW on the motor side
722 |(% rowspan="2" style="width:300px" %)P01-10 parameter Settings are incorrect|(% style="width:423px" %)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|(% rowspan="2" style="width:353px" %)Reset P01-10 (maximum speed threshold) according to mechanical requirements
723 |(% style="width:423px" %)(((
724 Check whether the motor speed corresponding to the input instruction exceeds P01-10 (maximum speed threshold).
725
726 Position mode, when the instruction is from a pulse instruction (P01-06 = 0).
727
728 Motor speed (rpm) = input pulse frequency (Hz) * 60 * electronic gear ratio / encoder resolution
729 )))
730 |(% style="width:300px" %)Servo drive fault|(% style="width:423px" %)The servo drive is still faulty after power on again|(% style="width:353px" %)Servo drive may be damaged. Please replace the servo drive.
731
732 **Er.33 Power module is over temperature**
733
734 Fault
735
736 |=(% style="width: 468px;" %)**Servo drive panel display**|=(% style="width: 607px;" %)**Fault name**
737 |(% style="width:468px" %)(((
738 (% style="text-align:center" %)
739 [[image:image-20220709165654-21.png]]
740 )))|(% style="width:607px" %)Power module is over temperature
741
742 Troubleshooting
743
744 |=(% style="width: 290px;" %)**Reason**|=(% style="width: 432px;" %)**Troubleshooting methods**|=(% style="width: 354px;" %)**Handling**
745 |(% style="width:290px" %)Ambient temperature is too high|(% style="width:432px" %)Measure the ambient temperature|(% style="width:354px" %)Reduce the ambient temperature of the servo drive
746 |(% style="width:290px" %)The cooling fan is faulty|(% style="width:432px" %)Check the servo drive fan for blockage or damage|(% style="width:354px" %)Contact technician for fan repair or replacement
747 |(% style="width:290px" %)The servo drive is mounted in an unreasonable orientation or the spacing between the servo drives is unreasonable|(% style="width:432px" %)Check whether the servo drive installation is reasonable|(% style="width:354px" %)Contact technical to obtain the installation standard of the servo drive
748 |(% style="width:290px" %)Servo drive fault|(% style="width:432px" %)Restarting after 10 minutes of power failure is still reported|(% style="width:354px" %)Servo drive may be damaged. Please replace the servo drive.
749
750 **Er.34 Motor overload protection**
751
752 Fault
753
754 |=(% style="width: 460px;" %)**Servo drive panel display**|=(% style="width: 615px;" %)**Fault name**
755 |(% style="width:460px" %)(((
756 (% style="text-align:center" %)
757 [[image:image-20220709170406-1.png]]
758 )))|(% style="width:615px" %)Motor overload protection
759
760 Troubleshooting
761
762 |=(% style="width: 239px;" %)**Reason**|=(% style="width: 435px;" %)**Troubleshooting methods**|=(% style="width: 402px;" %)**Handling**
763 |(% style="width:239px" %)Motor power cable, encoder cable wiring error|(% style="width:435px" %)Check whether the motor power cable and encoder cable wiring are correct.|(% style="width:402px" %)(((
764 Connect them according to the correct connection method.
765
766 Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
767 )))
768 |(% style="width:239px" %)The load is too large|(% style="width:435px" %)Check overload characteristics of motor or servo drive|(% style="width:402px" %)(((
769 Reduce the load.
770
771 Contact technical to obtain the appropriate capacity drive and motor model.
772 )))
773 |(% style="width:239px" %)Frequent acceleration and deceleration|(% style="width:435px" %)Check whether the acceleration and deceleration motion is frequent or the acceleration and deceleration time is too small|(% style="width:402px" %)Appropriately extend the acceleration and deceleration time
774 |(% style="width:239px" %)Motor model and servo driver do not match|(% style="width:435px" %)Check the monitoring quantity U0-53 (motor model code).|(% style="width:402px" %)Contact technician to obtain the matching motor model.
775 |(% rowspan="3" style="width:239px" %)Unreasonable parameters|(% style="width:435px" %)Use Wecon SCTools to obtain the actual torque waveform and observe whether overshoot is obvious|(% style="width:402px" %)Set the appropriate loop gain parameters
776 |(% style="width:435px" %)Observe whether the motor vibrates during operation|(% style="width:402px" %)Set the appropriate rigidity level
777 |(% style="width:435px" %)Check whether p10-04 (Motor overload protection time coefficient) is reasonable|(% style="width:402px" %)Increase P10-04 (motor overload protection time factor) in the case of ensuring that the motor will not burn out.
778 |(% style="width:239px" %)Motor blockage|(% style="width:435px" %)Check if the motor is blocked due to mechanical jamming of the load.|(% style="width:402px" %)Release the mechanical jam.
779 |(% style="width:239px" %)The brakes are not open|(% style="width:435px" %)Check whether the brake device is opened normally, and check whether the output voltage of the brake is 24V|(% style="width:402px" %)Check the logic of brake power supply or brake output signal
780 |(% style="width:239px" %)Servo drive fault|(% style="width:435px" %)The servo drive is still faulty after power on again|(% style="width:402px" %)Servo drive may be damaged, please contact technician for repair.
781
782 **Er.35 Electronic gear ratio exceeds limit**
783
784 Fault
785
786 |=(% style="width: 473px;" %)**Servo drive panel display**|=(% style="width: 602px;" %)**Fault name**
787 |(% style="width:473px" %)(((
788 (% style="text-align:center" %)
789 [[image:image-20220709170424-2.png]]
790 )))|(% style="width:602px" %)Electronic gear ratio exceeds limit
791
792 Troubleshooting
793
794 |=(% style="width: 299px;" %)**Reason**|=(% style="width: 457px;" %)**Troubleshooting methods**|=(% style="width: 320px;" %)**Handling**
795 |(% style="width:299px" %)The electronic gear ratio setting is greater than the settable range|(% style="width:457px" %)(((
796 Check that the ratio of function codes P00-17/P00-18, P00-19/P00-20 is in the following range.
797
798 17bit absolute encoder upper limit value: 500.
799
800 23bit absolute encoder upper limit value: 32000
801 )))|(% rowspan="2" style="width:320px" %)After modifying the corresponding function code according to the range, set P10-03 (fault clearance) to 1.
802 |(% style="width:299px" %)The electronic gear ratio setting is less than the settable range|(% style="width:457px" %)(((
803 Check that the ratio of function codes P00-17/P00-18, P00-19/P00-20 is in the following range.
804
805 17bit absolute encoder lower limit value: 0.001.
806 )))
807
808 **Er.36 Position deviation is too large**
809
810 Fault
811
812 |=(% style="width: 463px;" %)**Servo drive panel display**|=(% style="width: 612px;" %)**Fault name**
813 |(% style="width:463px" %)(((
814 (% style="text-align:center" %)
815 [[image:image-20220709170438-3.png]]
816 )))|(% style="width:612px" %)Position deviation is too large
817
818 Troubleshooting
819
820 |=(% style="width: 233px;" %)**Reason**|=(% style="width: 449px;" %)**Troubleshooting methods**|=(% style="width: 394px;" %)**Handling**
821 |(% rowspan="2" style="width:233px" %)Cable error|(% style="width:449px" %)Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.|(% style="width:394px" %)Connect correctly according to UVW on the drive side and UVW on the motor side
822 |(% style="width:449px" %)Check whether both ends of the power cable are disconnected|(% style="width:394px" %)Replace the power cable and power on again
823 |(% rowspan="4" style="width:233px" %)Unreasonable parameter settings|(% style="width:449px" %)Check whether P03-02 (Load rigidity Level) is set properly|(% style="width:394px" %)Reduce the P03-02 (load stiffness level) setting value appropriately
824 |(% style="width:449px" %)Check whether the gain parameters are set properly, resulting in overshoot|(% style="width:394px" %)Adjust gain parameters reasonably
825 |(% style="width:449px" %)Check whether P00-25 (position deviation threshold) is set properly|(% style="width:394px" %)Increase the value of P00-25 (position deviation threshold)
826 |(% style="width:449px" %)Use Wecon SCTools to obtain the equivalent speed of the position instruction and check whether the speed is greater than the motor speed limit|(% style="width:394px" %)Increase the setting values of P01-12 (forward speed threshold) and P01-13 (reverse speed threshold) according to mechanical requirements
827 |(% style="width:233px" %)Motor blockage|(% style="width:449px" %)Check if the motor is blocked due to mechanical jamming of the load.|(% style="width:394px" %)Release the mechanical jam.
828 |(% style="width:233px" %)The brakes are not open|(% style="width:449px" %)Check whether the brake device is opened normally, and check whether the output voltage of the brake is 24V|(% style="width:394px" %)Check the logic of brake power supply or brake output signal
829 |(% style="width:233px" %)The input pulse frequency is too high|(% style="width:449px" %)Position mode: when the instruction comes from the pulse instruction (P01-06=0), check whether the input pulse frequency is too high|(% style="width:394px" %)Reduce the input pulse frequency
830 |(% style="width:233px" %)The equivalent velocity of position instruction changes too fast|(% style="width:449px" %)Check if the position instruction changes too fast in the equivalent speed|(% style="width:394px" %)Properly increase the acceleration and deceleration time and reduce the rate of change of the speed
831
832 **Er.37 Torque saturation abnormal**
833
834 Fault
835
836 |=(% style="width: 467px;" %)**Servo drive panel display**|=(% style="width: 608px;" %)**Fault name**
837 |(% style="width:467px" %)(((
838 (% style="text-align:center" %)
839 [[image:image-20220709170455-4.png]]
840 )))|(% style="width:608px" %)Torque saturation abnormal
841
842 Troubleshooting
843
844 |=(% style="width: 227px;" %)**Reason**|=(% style="width: 460px;" %)**Troubleshooting methods**|=**Handling**
845 |(% style="width:227px" %)Motor power line cable UVW phase sequence error|(% style="width:460px" %)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
846 |(% rowspan="4" style="width:227px" %)Unreasonable parameter settings|(% style="width:460px" %)Check whether P01-19 Torque saturation timeout) is set properly|Increase P01-19 Torque saturation timeout) setting value appropriately
847 |(% style="width:460px" %)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
848 |(% style="width:460px" %)Check whether the gain parameters are set properly|Adjust gain parameters reasonably
849 |(% style="width:460px" %)Check whether the gain parameters are set properly|Increase the acceleration and deceleration time
850 |(% style="width:227px" %)The load is too heavy|(% style="width:460px" %)Check whether the load is too heavy|Reduce the load
851 |(% style="width:227px" %)Motor blockage|(% style="width:460px" %)Check whether the motor is blocked due to mechanical jamming of the load.|Release the mechanical jam.
852 |(% style="width:227px" %)The brakes are not open|(% style="width:460px" %)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
853 |(% style="width:227px" %)Limit switches are mounted outside the travel|(% style="width:460px" %)Check whether the limit switch is installed outside the travel|Adjust the installation position of limit switch
854
855 **Er.38 Main circuit electricity is lack of phase**
856
857 Fault
858
859 |=**Servo drive panel display**|=**Fault name**
860 |(((
861 (% style="text-align:center" %)
862 [[image:image-20220709170508-5.png]]
863 )))|Main circuit electricity is lack of phase
864
865 Troubleshooting
866
867 |=(% style="width: 270px;" %)**Reason**|=(% style="width: 424px;" %)**Troubleshooting methods**|=**Handling**
868 |(% rowspan="2" style="width:270px" %)Cable error|(% style="width:424px" %)Check whether the motor power line connection port is connected reliably|Tighten the fixing screws of the motor power line connection ports
869 |(% style="width:424px" %)Check the power cable for disconnections at both ends|Replace the power cable and power on again.
870 |(% style="width:270px" %)Three-phase specification drives run on single-phase power supplies|(% style="width:424px" %)Check whether the three-phase drive has a single-phase power supply|Connect a three-phase power supply according to the power supply specifications
871 |(% style="width:270px" %)The power supply is unstable or off|(% style="width:424px" %)(((
872 Check that the drive input power specifications meet the specifications:
873
874 220V drive valid value: 198V to 242V.
875
876 380V drive valid value: 342V to 418V
877 )))|Use after the power supply is stable.
878 |(% style="width:270px" %)Servo drive fault|(% style="width:424px" %)The servo drive is still faulty after power on again|Servo drive may be damaged, please contact technician for repair.
879
880 **Er.39 Emergency stop**
881
882 Fault
883
884 |=(% style="width: 466px;" %)**Servo drive panel display**|=(% style="width: 609px;" %)**Fault name**
885 |(% style="width:466px" %)(((
886 (% style="text-align:center" %)
887 [[image:image-20220709170521-6.png]]
888 )))|(% style="width:609px" %)Emergency stop
889
890 Troubleshooting
891
892 |=(% style="width: 244px;" %)**Reason**|=(% style="width: 545px;" %)**Troubleshooting methods**|=(% style="width: 287px;" %)**Handling**
893 |(% rowspan="2" style="width:244px" %)Servo drive receives emergency stop instructions|(% style="width:545px" %)Check whether emergency stop protection is triggered manually|(% style="width:287px" %)Power on the servo drive again
894 |(% style="width:545px" %)(((
895 Check whether the servo drive has mistakenly triggered the emergency stop signal.
896
897 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.
898 )))|(% style="width:287px" %)(((
899 Properly wire the DI port
900
901
902 )))
903
904 **Er.40 Encoder battery failure**
905
906 Fault
907
908 |=(% style="width: 469px;" %)**Servo drive panel display**|=(% style="width: 606px;" %)**Fault name**
909 |(% style="width:469px" %)(((
910 (% style="text-align:center" %)
911 [[image:image-20220709170534-7.png]]
912 )))|(% style="width:606px" %)Encoder battery failure
913
914 Troubleshooting
915
916 |=(% style="width: 361px;" %)**Reason**|=(% style="width: 395px;" %)**Troubleshooting methods**|=(% style="width: 320px;" %)**Handling**
917 |(% style="width:361px" %)Multi-turn absolute encoder is not connected to the battery during the power off of the servo drive|(% style="width:395px" %)Check if the encoder is connected to the battery during the power off of the servo|(% style="width:320px" %)Set P10-03 (Fault clearing) to 1
918 |(% style="width:361px" %)The voltage of multi-turn absolute encoder battery is low|(% style="width:395px" %)Measure battery voltage|(% style="width:320px" %)Contact technicians to replace with a new encoder battery
919
920 **Er.41 Motor (encoder) over temperature**
921
922 Fault
923
924 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
925 |(% style="width:465px" %)(((
926 (% style="text-align:center" %)
927 [[image:image-20220709170547-8.png]]
928 )))|(% style="width:610px" %)Motor (encoder) over temperature
929
930 Troubleshooting
931
932 |=(% style="width: 273px;" %)**Reason**|=(% style="width: 462px;" %)**Troubleshooting methods**|=**Handling**
933 |(% style="width:273px" %)The motor is overloaded|(% style="width:462px" %)Check whether the motor is overloaded|Reduce the load of the motor
934
935 **Er.42 Encoder write fault fault**
936
937 Fault
938
939 |=(% style="width: 471px;" %)**Servo drive panel display**|=(% style="width: 604px;" %)**Fault name**
940 |(% style="width:471px" %)(((
941 (% style="text-align:center" %)
942 [[image:image-20220709170937-1.png]]
943 )))|(% style="width:604px" %)Encoder write faults
944
945 Troubleshooting
946
947 |=**Reason**|=(% style="width: 426px;" %)**Troubleshooting methods**|=(% style="width: 404px;" %)**Handling**
948 |(% rowspan="2" %)Poor contact of CN1 port|(% style="width:426px" %)Check whether the cable port (CN1) of the encoder is properly connected|(% style="width:404px" %)Tighten the fixing screws on the CN1 port
949 |(% style="width:426px" %)Check whether the servo drive CN1 port jack is deformed|(% style="width:404px" %)If the cable is deformed, replace the cable or its port
950 |Poor contact on adapter port (Rectangular connection cable)|(% style="width:426px" %)Check whether both ends of the rectangular connector are reliably connected|(% style="width:404px" %)Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
951 |(% rowspan="2" %)External interference|(% style="width:426px" %)Check for strong magnetic fields nearby|(% style="width:404px" %)Eliminate nearby strong magnetic interference
952 |(% style="width:426px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:404px" %)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.
953 |Servo drive fault|(% style="width:426px" %)The servo drive is still faulty after power on again|(% style="width:404px" %)Servo drive may be damaged, please contact technician for repair.
954
955 **Er.43 Drive overload fault**
956
957 Fault
958
959
960 |=(% style="width: 794px;" %)**Servo drive panel display**|=(% style="width: 627px;" %)**Fault name**
961 |(% style="width:794px" %) ​​​​​​(((
962 (% style="text-align:center" %)
963 [[image:企业微信截图_16877625944107.png]]
964 )))|(% style="width:627px" %)Drive overload fault
965
966 Troubleshooting
967
968 |=Reason|=Troubleshooting|=Handling
969 |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.
970 |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.
971
972 **Er.45 Drive Blocking Overtemperature Protection**
973
974 Fault
975
976 |=(% style="width: 771px;" %)Servo drive panel display|=(% style="width: 650px;" %)Fault name
977 |(% style="width:771px" %)(((
978 (% style="text-align:center" %)
979 [[image:1719997732882-739.png||height="80" width="203"]]
980 )))|(% style="width:650px" %)Driver Blocking Overtemperature Protection
981
982 Troubleshooting
983
984 |=Reason|=Troubleshooting|=Treatment
985 |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.
986
987 (% style="text-align:center" %)
988 [[image:1687762670698-912.png]]
989
990 **Er.60 ADC conversion is not complete**
991
992 Fault
993
994 |=**Servo drive panel display**|=**Fault name**
995 |(((
996 (% style="text-align:center" %)
997 [[image:image-20220709170943-2.png]]
998 )))|ADC conversion is not complete
999
1000 Troubleshooting
1001
1002 |=(% style="width: 210px;" %)**Reason**|=(% style="width: 479px;" %)**Troubleshooting methods**|=(% style="width: 387px;" %)**Handling**
1003 |(% rowspan="2" style="width:210px" %)External interference|(% style="width:479px" %)Check for strong magnetic fields nearby|(% style="width:387px" %)Eliminate nearby strong magnetic interference
1004 |(% style="width:479px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:387px" %)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.
1005 |(% style="width:210px" %)Servo drive fault|(% style="width:479px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:387px" %)If there is still alarm after multiple power-on, contact the technician.
1006
1007 **Er.61 Internal software fault**
1008
1009 Fault
1010
1011 |=(% style="width: 470px;" %)**Servo drive panel display**|=(% style="width: 605px;" %)**Fault name**
1012 |(% style="width:470px" %)(((
1013 (% style="text-align:center" %)
1014 [[image:image-20220709170950-3.png]]
1015 )))|(% style="width:605px" %)Internal software fault
1016
1017 Troubleshooting
1018
1019 |=(% style="width: 235px;" %)**Reason**|=(% style="width: 478px;" %)**Troubleshooting methods**|=(% style="width: 363px;" %)**Handling**
1020 |(% style="width:235px" %)Servo drive fault|(% style="width:478px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:363px" %)If there is still alarm after multiple power-on, contact the technician.
1021
1022 **Er.62 Internal software fault**
1023
1024 Fault
1025
1026 |=(% style="width: 479px;" %)**Servo drive panel display**|=(% style="width: 596px;" %)**Fault name**
1027 |(% style="width:479px" %)(((
1028 (% style="text-align:center" %)
1029 [[image:image-20220709171001-4.png]]
1030 )))|(% style="width:596px" %)Internal software fault
1031
1032 Troubleshooting
1033
1034 |=(% style="width: 218px;" %)**Reason**|=(% style="width: 501px;" %)**Troubleshooting methods**|=(% style="width: 357px;" %)**Handling**
1035 |(% style="width:218px" %)Servo drive fault|(% style="width:501px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:357px" %)If there is still alarm after multiple power-on, contact the technician.
1036
1037 **Er.63 Internal software fault**
1038
1039 Fault
1040
1041 |=(% style="width: 468px;" %)**Servo drive panel display**|=(% style="width: 607px;" %)**Fault name**
1042 |(% style="width:468px" %)(((
1043 (% style="text-align:center" %)
1044 [[image:image-20220709171011-5.png]]
1045 )))|(% style="width:607px" %)Internal software fault
1046
1047 Troubleshooting
1048
1049 |=(% style="width: 238px;" %)**Reason**|=(% style="width: 471px;" %)**Troubleshooting methods**|=(% style="width: 367px;" %)**Handling**
1050 |(% style="width:238px" %)Servo drive fault|(% style="width:471px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:367px" %)If there is still alarm after multiple power-on, contact the technician.
1051
1052 **Er.64 Internal software fault**
1053
1054 Fault
1055
1056 |=(% style="width: 472px;" %)**Servo drive panel display**|=(% style="width: 603px;" %)**Fault name**
1057 |(% style="width:472px" %)(((
1058 (% style="text-align:center" %)
1059 [[image:image-20220709171022-6.png]]
1060 )))|(% style="width:603px" %)Internal software fault
1061
1062 Troubleshooting
1063
1064 |=(% style="width: 227px;" %)**Reason**|=(% style="width: 498px;" %)**Troubleshooting methods**|=(% style="width: 351px;" %)**Handling**
1065 |(% style="width:227px" %)Servo drive fault|(% style="width:498px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:351px" %)If there is still alarm after multiple power-on, contact the technician.
1066
1067 **Er.65 Internal software fault**
1068
1069 Fault
1070
1071 |=(% style="width: 472px;" %)**Servo drive panel display**|=(% style="width: 603px;" %)**Fault name**
1072 |(% style="width:472px" %)(((
1073 (% style="text-align:center" %)
1074 [[image:image-20220709171027-7.png]]
1075 )))|(% style="width:603px" %)Internal software fault
1076
1077 Troubleshooting
1078
1079 |=(% style="width: 212px;" %)**Reason**|=(% style="width: 518px;" %)**Troubleshooting methods**|=(% style="width: 346px;" %)**Handling**
1080 |(% style="width:212px" %)Servo drive fault|(% style="width:518px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:346px" %)If there is still alarm after multiple power-on, contact the technician.
1081
1082 **A-80 Drive overpower warning**
1083
1084 Fault
1085
1086 |=Servo drive panel display|=Alarm name
1087 |(((
1088 (% style="text-align:center" %)
1089 [[image:1687763210466-195.png||height="54" width="150"]]
1090 )))|Drive overpower warning
1091
1092 Troubleshooting
1093
1094 |Reason|Troubleshooting|Handling
1095 |(((
1096 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.
1097
1098
1099 )))|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.
1100
1101 (% style="text-align:center" %)
1102 [[image:1687763249516-252.png]]
1103
1104 **A-81 Overspeed alarm**
1105
1106 Fault
1107
1108 |=(% style="width: 498px;" %)**Servo drive panel display**|=(% style="width: 577px;" %)**Fault name**
1109 |(% style="width:498px" %)(((
1110 (% style="text-align:center" %)
1111 [[image:image-20220709171047-8.png]]
1112 )))|(% style="width:577px" %)Overspeed alarm
1113
1114 Troubleshooting
1115
1116 |=(% style="width: 225px;" %)**Reason**|=(% style="width: 474px;" %)**Troubleshooting methods**|=(% style="width: 377px;" %)**Handling**
1117 |(% style="width:225px" %)Motor power line cable UVW phase sequence error|(% style="width:474px" %)Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.|(% style="width:377px" %)Connect correctly according to UVW on the drive side and UVW on the motor side
1118 |(% style="width:225px" %)P01-11 parameter setting is not proper|(% style="width:474px" %)Check whether the value of P01-11 (warning speed threshold) is less than the max speed required for the operation of motor|(% style="width:377px" %)Reset P01-11 (warning speed threshold) according to mechanical requirements
1119 |(% style="width:225px" %)Input speed command is too high|(% style="width:474px" %)Check whether the motor speed corresponding to the input command exceeds P01-11 (maximum speed threshold)|(% style="width:377px" %)Reduce the input speed instruction according to the mechanical requirements; Reasonably increase P01-11 (warning speed threshold)
1120
1121 **A-82 Overload**
1122
1123 Fault
1124
1125 |=(% style="width: 479px;" %)**Servo drive panel display**|=(% style="width: 596px;" %)**Fault name**
1126 |(% style="width:479px" %)(((
1127 (% style="text-align:center" %)
1128 [[image:image-20220709171057-9.png]]
1129 )))|(% style="width:596px" %)Overload
1130
1131 Troubleshooting
1132
1133 |=(% style="width: 233px;" %)**Reason**|=(% style="width: 454px;" %)**Troubleshooting methods**|=**Handling**
1134 |(% style="width:233px" %)Motor power cable, encoder cable wiring error|(% style="width:454px" %)Check whether the motor power cable and encoder cable wiring are correct.|(((
1135 Connect them according to the correct connection method.
1136
1137 Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
1138 )))
1139 |(% style="width:233px" %)The load is too large|(% style="width:454px" %)Check overload characteristics of motor or servo drive|Reduce the load. Contact technical to obtain the appropriate capacity drive and motor model.
1140 |(% style="width:233px" %)Motor model and servo driver do not match|(% style="width:454px" %)Perform inertia identification and check the inertia ratio.|Contact technician to obtain the matching motor model.
1141 |(% style="width:233px" %)Motor model and servo driver do not match|(% style="width:454px" %)Check the monitoring quantity U0-53 (motor model code).|Contact technician to obtain the matching motor model.
1142 |(% rowspan="2" style="width:233px" %)Unreasonable parameters|(% style="width:454px" %)Use Wecon SCTools to obtain the actual torque waveform and observe whether overshoot is obvious|Set the appropriate loop gain parameters
1143 |(% style="width:454px" %)Observe whether the motor vibrates during operation|Set the appropriate rigidity level
1144
1145 **A-83 Braking resistor is over temperature or overloaded**
1146
1147 Fault
1148
1149 |=(% style="width: 461px;" %)**Servo drive panel display**|=(% style="width: 614px;" %)**Fault name**
1150 |(% style="width:461px" %)(((
1151 (% style="text-align:center" %)
1152 [[image:image-20220709171112-10.png]]
1153 )))|(% style="width:614px" %)Braking resistor is over temperature or overloaded
1154
1155 Troubleshooting
1156
1157 |=(% style="width: 228px;" %)**Reason**|=(% style="width: 455px;" %)**Troubleshooting methods**|=(% style="width: 393px;" %)**Handling**
1158 |(% style="width:228px" %)Improper connection of internal braking resistor|(% style="width:455px" %)Check whether C, D are connected to the short cap and the contact is normal|(% style="width:393px" %)When using an internal braking resistor, reliably connect the shorting cap or shorting wire between C and D
1159 |(% style="width:228px" %)Improper connection of external braking resistor|(% style="width:455px" %)Remove the external braking resistor and measure whether the resistance value is "∞” (infinity)|(% style="width:393px" %)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.
1160 |(% style="width:228px" %)The resistance value of the external braking resistor is too large|(% style="width:455px" %)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.|(% style="width:393px" %)Use a suitable external braking resistor.
1161 |(% style="width:228px" %)Improper parameter setting|(% style="width:455px" %)(((
1162 When using an external braking resistor, check the following parameters.
1163
1164 Whether P00-09 (braking resistor setting) is reasonable.
1165
1166 P00-10 (external braking resistor resistance value) is reasonable.
1167 )))|(% style="width:393px" %)(((
1168 Reasonable setting of P00-09 (braking resistor setting):
1169
1170 P00-09=1 (use external braking resistor and natural cooling)
1171
1172 P00-09 = 3 (do not use the braking resistor, all by capacitor absorption)
1173
1174 P00-10 (external braking resistor resistance value) parameter value and the actual actual use of external braking resistor are consistent.
1175 )))
1176
1177 **A-84 Parameter modification that needs to be powered on again**
1178
1179 Fault
1180
1181 |=(% style="width: 454px;" %)**Servo drive panel display**|=(% style="width: 621px;" %)**Fault name**
1182 |(% style="width:454px" %)(((
1183 (% style="text-align:center" %)
1184 [[image:image-20220709171124-11.png]]
1185 )))|(% style="width:621px" %)Modified parameters that need to be powered on again to take effect
1186
1187 Troubleshooting
1188
1189 |=(% style="width: 316px;" %)**Reason**|=(% style="width: 541px;" %)**Troubleshooting methods**|=(% style="width: 219px;" %)**Handling**
1190 |(% style="width:316px" %)Modified the effective timing to "power on again" parameter.|(% style="width:541px" %)Check whether the servo drive has modified the parameter with the effective time "power on again".|(% style="width:219px" %)Power on again
1191
1192 **A-85 Receive position pulse when servo is OFF**
1193
1194 Fault
1195
1196 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
1197 |(% style="width:465px" %)(((
1198 (% style="text-align:center" %)
1199 [[image:image-20220709171137-12.png]]
1200 )))|(% style="width:610px" %)Receive position pulse when servo is OFF
1201
1202 Troubleshooting
1203
1204 |=(% style="width: 270px;" %)**Reason**|=(% style="width: 502px;" %)**Troubleshooting methods**|=(% style="width: 304px;" %)**Handling**
1205 |(% style="width:270px" %)Servo received position pulse when it is OFF.|(% style="width:502px" %)Check whether the servo drive is in the OFF state, and check whether the host computer is sending pulse instruction.|(% rowspan="2" style="width:304px" %)The host computer stops sending pulse instructions.
1206 |(% style="width:270px" %)Servo received pulse instruction in non-position mode|(% style="width:502px" %)(((
1207 Check whether the servo drive P00-01 (control mode) is in position mode;
1208
1209 Check whether the host computer is sending pulse instructions
1210 )))
1211
1212 **A-86 Input pulse frequency is too high**
1213
1214 Fault
1215
1216 |=(% style="width: 463px;" %)**Servo drive panel display**|=(% style="width: 612px;" %)**Fault name**
1217 |(% style="width:463px" %)(((
1218 (% style="text-align:center" %)
1219 [[image:image-20220709171149-13.png]]
1220 )))|(% style="width:612px" %)Input pulse frequency is too high
1221
1222 Troubleshooting
1223
1224 |=(% style="width: 240px;" %)**Reason**|=(% style="width: 446px;" %)**Troubleshooting methods**|=**Handling**
1225 |(% style="width:240px" %)The input pulse frequency is too high|(% style="width:446px" %)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
1226 |(% rowspan="2" style="width:240px" %)Improper parameter setting|(% style="width:446px" %)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).
1227 |(% style="width:446px" %)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
1228
1229 **A-88 Main circuit momentary power off**
1230
1231 Fault
1232
1233 |=**Servo drive panel display**|=**Fault name**
1234 |(((
1235 (% style="text-align:center" %)
1236 [[image:image-20220709171200-14.png]]
1237 )))|Main circuit momentary power off
1238
1239 Troubleshooting
1240
1241 |=(% style="width: 223px;" %)**Reason**|=(% style="width: 462px;" %)**Troubleshooting methods**|=(% style="width: 391px;" %)**Handling**
1242 |(% style="width:223px" %)Power off|(% style="width:462px" %)(((
1243 Check that the drive input power specifications meet the specifications:
1244
1245 220V drive valid value: 198V to 242V.
1246
1247 380V drive valid value: 342V to 418V
1248 )))|(% style="width:391px" %)Use it after the power supply is stable
1249 |(% style="width:223px" %)Servo drive fault|(% style="width:462px" %)The servo drive is still faulty after power on again|(% style="width:391px" %)Servo drive may be damaged, please contact technician for repair.
1250
1251 **A-89 DI port configuration is duplicate**
1252
1253 Fault
1254
1255 |=(% style="width: 482px;" %)**Servo drive panel display**|=(% style="width: 593px;" %)**Fault name**
1256 |(% style="width:482px" %)(((
1257 (% style="text-align:center" %)
1258 [[image:image-20220709171217-15.png]]
1259 )))|(% style="width:593px" %)DI port configuration is duplicate
1260
1261 Troubleshooting
1262
1263 |=**Reason**|=(% style="width: 464px;" %)**Troubleshooting methods**|=(% style="width: 375px;" %)**Handling**
1264 |The same non-zero DI function is assigned to multiple DI ports|(% style="width:464px" %)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|(% style="width:375px" %)(((
1265 Configuring each DI port for different DI functions and power on again.
1266
1267 Configure the function of the unwanted DI ports to 0 (off) and power on again.
1268
1269 Factory reset the parameter P10-02=1, and power on again.
1270 )))
1271
1272 **A-90 DI port configuration is duplicate**
1273
1274 Fault
1275
1276 |=**Servo drive panel display**|=**Fault name**
1277 |(((
1278 (% style="text-align:center" %)
1279 [[image:image-20220709171230-16.png]]
1280 )))|DO port configuration i duplicate
1281
1282 Troubleshooting
1283
1284 |=**Reason**|=(% style="width: 469px;" %)**Troubleshooting methods**|=(% style="width: 367px;" %)**Handling**
1285 |The same non-zero DO function is assigned to multiple DO ports|(% style="width:469px" %)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|(% style="width:367px" %)(((
1286 Configuring each DO port for different DO functions and power on again.
1287
1288 Configure the function of the unwanted DO ports to 0 (off) and power on again.
1289
1290 Factory reset the parameter P10-02=1, and power on again.
1291 )))
1292
1293 **A-91 Parameter modification is too frequent**
1294
1295 Fault
1296
1297 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
1298 |(% style="width:465px" %)(((
1299 (% style="text-align:center" %)
1300 [[image:image-20220709171241-17.png]]
1301 )))|(% style="width:610px" %)(((
1302 Parameter modification is too frequent (modification frequency allowed of function code: 6 hours/150 times
1303
1304 Note: 32-bit function code: recorded as 2 times)
1305 )))
1306
1307 Troubleshooting
1308
1309 |Reason|Troubleshooting|Handling
1310 |EEPROM writing frequency is too high|(((
1311 Check whether the host computer frequently modifies the parameters (modification frequency allowed of function code: 6 hours/150 times
1312
1313 Note: 32-bit function code: recorded as 2 times)
1314
1315
1316 )))|(((
1317 (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
1318
1319 (2) If A91 warning appears in the normal working mode of the machine, please check whether the PLC program frequently modifies the function code.
1320
1321 (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)
1322 )))
1323 |(% rowspan="3" %)external interference|Check for strong magnetic fields nearby|Eliminate nearby strong magnetic interference
1324 |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.
1325 |(((
1326 Increase the abnormal threshold setting of P0-31 encoder read-write check.
1327
1328
1329 )))|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.
1330 |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.
1331 |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.
1332
1333 **A-92 Low encoder battery voltage warning**
1334
1335 Fault
1336
1337 |=**Servo drive panel display**|=**Fault name**
1338 |(((
1339 (% style="text-align:center" %)
1340 [[image:image-20220709171253-18.png]]
1341 )))|Low encoder battery voltage warning
1342
1343 Troubleshooting
1344
1345 |=(% style="width: 335px;" %)**Reason**|=(% style="width: 347px;" %)**Troubleshooting methods**|=(% style="width: 394px;" %)**Handling**
1346 |(% style="width:335px" %)The encoder battery voltage is less than 3.1V|(% style="width:347px" %)Measure the encoder battery voltage|(% style="width:394px" %)Contact technician to replace a new encoder battery
1347
1348 **A-93 Abnormal and frequency of encoder read and write check is too high**
1349
1350 Fault
1351
1352 |=(% style="width: 611px;" %)**Servo drive panel display**|=(% style="width: 811px;" %)**Fault name**
1353 |(% style="width:611px" %)(((
1354 (% style="text-align:center" %)
1355 [[image:image-20220709171304-19.png]]
1356 )))|(% style="width:811px" %)The abnormal frequency of encoder read-write verification is too high
1357
1358 Troubleshooting
1359
1360 |=(% style="width: 235px;" %)**Reason**|=(% style="width: 446px;" %)**Troubleshooting methods**|=(% style="width: 395px;" %)**Handling**
1361 |(% colspan="1" rowspan="3" style="width:235px" %)External interference|(% style="width:446px" %)Check for strong magnetic fields nearby|(% style="width:395px" %)Eliminate nearby strong magnetic interference
1362 |(% style="width:446px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:395px" %)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.
1363 |(% style="width:446px" %)Increase the abnormal threshold setting of P0-31.|(% style="width:395px" %)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.
1364 |(% style="width:235px" %)Encoder issue|(% style="width:446px" %)Manually rotate the motor shaft slowly, and observe the changes of the monitoring quantity U0-30 (electrical angle).|(% style="width:395px" %)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.
1365 |(% style="width:235px" %)Internal servo drive fault|(% style="width:446px" %)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.|(% style="width:395px" %)Contact technician for repair