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Wiki source code of 10 Malfunctions

Version 12.1 by Stone Wu on 2022/07/08 09:56
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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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
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/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__
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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
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/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
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/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__
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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__.
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 does 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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
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/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__
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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__.
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 does 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" %)**Name**|(% style="text-align:center; vertical-align:middle; width:444px" %)**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" %)A-CLR|(% style="text-align:center; vertical-align:middle; width:444px" %)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/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/#HGroupU1Warningmonitoring]]__.
198
199 == **Fault and warning code table** ==
200
201 **(1) 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: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
219 |(% 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
220 |(% style="width:114px" %)Category 1|(% style="width:300px" %)(((
221 Exceeds motor
222
223 maximum speed
224 )))|(% style="width:92px" %)Er.32|(% style="width:330px" %)(((
225 Exceeds motor
226
227 maximum speed
228 )))|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
229 |(% 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
230 |(% style="width:114px" %)Category 1|(% style="width:300px" %)The brake resistor is turned on abnormally|(% style="width:92px" %)Er.24|(% style="width:330px" %)The brake resistor of servo drive is turned on abnormally|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
231
232 **(2)The 2nd category (category 2 for short) clearable faults**
233
234
235 |(% style="width:107px" %)**Category**|(% style="width:233px" %)**Error name**|**Fault code**|**Content**|**Whether Clearable**|**Operation**
236 |(% style="width:107px" %)Category 2|(% style="width:233px" %)Main power supply overvoltage|Er.22|Main power supply overvoltage|Yes|Stop immediately
237 |(% style="width:107px" %)Category 2|(% style="width:233px" %)Encoder disconnection|Er.27|The encoder cable is incorrectly connected|Yes|Stop immediately
238 |(% style="width:107px" %)Category 2|(% style="width:233px" %)Power line disconnection|Er.31|The power cable is incorrectly connected|Yes|Stop immediately
239
240 **(3) The 3rd Category (category 3 for short) clearable faults**
241
242
243 |(% style="width:109px" %)**Category**|(% style="width:277px" %)**Error name**|**Fault code**|**Content**|**Whether Clearable**|**Operation**
244 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Main power supply under voltage|Er.21|Main power supply under voltage|Yes|Stop immediately
245 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Braking resistor is not connected|Er.23|Braking resistor is not connected|Yes|Stop immediately
246 |(% 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
247 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Power module is over temperature|Er.33|Power module is over temperature|Yes|Stop immediately
248 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Motor overload protection|Er.34|Motor overload protection|Yes|Stop immediately
249 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Electronic gear ratio exceeds limit|Er.35|Electronic gear ratio exceeds limit|Yes|Stop immediately
250 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Position deviation is too large|Er.36|Position deviation is too large|Yes|Stop immediately
251 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Torque saturation abnormal|Er.37|Torque saturation abnormal|Yes|Stop immediately
252 |(% style="width:109px" %)Category 3|(% style="width:277px" %)(((
253 Main circuit electricity
254
255 is lack of phase
256 )))|Er.38|(((
257 Main circuit electricity
258
259 is lack of phase
260 )))|Yes|Stop immediately
261 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Emergency stop|Er.39|Triggered the emergency stop signal|Yes|Stop immediately
262 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Encoder battery failure|Er.40|Encoder battery failure|Yes|Stop immediately
263 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Motor (encoder) over temperature|Er.41|Motor (encoder) over temperature|Yes|Stop immediately
264 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Encoder write faults|Er.42|The encoder fails to write data|Yes|Stop immediately
265
266 **(4) The 4th category (category 4 for short) clearable warnings**
267
268 |(% style="width:100px" %)**Category**|(% style="width:294px" %)**Error name**|**Fault code**|(% style="width:390px" %)**Content**|(% style="width:108px" %)**Whether Clearable**|**Operation**
269 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Overspeed alarm|A-81|(% style="width:390px" %)Motor exceeds the speed limit|(% style="width:108px" %)Yes|Continue to run
270 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Overload|A-82|(% style="width:390px" %)The motor was run continuously with a torque exceeding the rated value|(% style="width:108px" %)Yes|Continue to run
271 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Braking resistor is over temperature or overloaded|A-83|(% style="width:390px" %)Braking resistor is over temperature or overloaded|(% style="width:108px" %)Yes|Continue to run
272 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Parameter modification that needs to be powered on again|A-84|(% style="width:390px" %)Modify the parameter that needs to be powered on again|(% style="width:108px" %)Yes|Continue to run
273 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Receive position pulse when servo is OFF|A-85|(% style="width:390px" %)Servo drive receives position pulse when it is OFF|(% style="width:108px" %)Yes|Continue to run
274 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Input pulse frequency is too high|A-86|(% style="width:390px" %)Input pulse frequency is too high|(% style="width:108px" %)Yes|Continue to run
275 |(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
276 Main circuit momentary
277
278 power off
279 )))|A-88|(% style="width:390px" %)(((
280 Main circuit momentary
281
282 power off
283 )))|(% style="width:108px" %)Yes|Continue to run
284 |(% style="width:100px" %)Category 4|(% style="width:294px" %)DI port configuration is duplicate|A-89|(% style="width:390px" %)DI port configuration is duplicate|(% style="width:108px" %)Yes|Continue to run
285 |(% style="width:100px" %)Category 4|(% style="width:294px" %)DO port configuration is duplicate|A-90|(% style="width:390px" %)DO port configuration is duplicate|(% style="width:108px" %)Yes|Continue to run
286 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Parameter modification is too frequent|A-91|(% style="width:390px" %)Parameter modification is too frequent|(% style="width:108px" %)Yes|Continue to run
287 |(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
288 low encoder battery voltage
289
290 Warning
291 )))|A-92|(% style="width:390px" %)The battery voltage of encoder is less than 3.1V|(% style="width:108px" %)Yes|Continue to run
292 |(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
293 Encoder read and write
294
295 check abnormal and frequency is too high
296 )))|A-93|(% style="width:390px" %)(((
297 Encoder read and write
298
299 check abnormal and frequency is too high
300 )))|(% style="width:108px" %)Yes|Continue to run