10 Malfunctions

Version 13.1 by Stone Wu on 2022/07/08 09:57

Faults and warnings handling at startup

Position control mode

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

Speed control mode

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

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

Torque control mode

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

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

Faults and warnings handling during operation

Overview

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

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

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

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

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

Associated function codes

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

Associated function number:

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

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

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

Fault and warning code table

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

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

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

Category	Error name	Fault code	Content	Whether Clearable	Operation
Category 2	Main power supply overvoltage	Er.22	Main power supply overvoltage	Yes	Stop immediately
Category 2	Encoder disconnection	Er.27	The encoder cable is incorrectly connected	Yes	Stop immediately
Category 2	Power line disconnection	Er.31	The power cable is incorrectly connected	Yes	Stop immediately

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

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

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

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