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Wiki source code of 10 Malfunctions

Version 15.1 by Stone Wu on 2022/07/09 16:36
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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
301
302
303 **~ Troubleshooting**
304
305 **Er.01 Parameter destruction**
306
307 Fault
308
309 |**Servo drive panel display**|**Fault name**
310 |[[image:image-20220709163605-98.png]]|Parameter destruction
311
312 Troubleshooting
313
314 |**Reason**|**Troubleshooting methods**|**Handling**
315 |EEPROM could not be read and written|Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|Please contact the technician.
316
317 **Er.02 Parameter storage error**
318
319 Fault
320
321 |**Servo drive panel display**|**Fault name**
322 |[[image:image-20220709163546-97.png]]|Parameter storage error
323
324 Troubleshooting
325
326 |**Reason**|**Troubleshooting methods**|**Handling**
327 |Firmware upgraded|Check whether the program has been upgraded.|Power on the servo drive again
328 |Parameter read and write exceptions|After a parameter is changed, power it on again and check whether the parameter is saved|If the parameters are not saved after multiple power-on, contact technician.
329 |Servo drive firmware faulty|(((
330 Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
331
332 VD2-0xxSA1G model: earlier than V1.14.
333
334 VD2F-0xxSA1P model: earlier than V1.02
335 )))|(((
336 VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
337
338 VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
339 )))
340
341 **Er.03 ADC reference source fault**
342
343 Fault
344
345 |**Servo drive panel display**|**Fault name**
346 |[[image:image-20220709163326-51.png]]|ADC reference source fault
347
348 Troubleshooting
349
350 |**Reason**|**Troubleshooting methods**|**Handling**
351 |The internal analog reference source of the drive is not accurate|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.
352
353 **Er.04 AD current sampling conversion error**
354
355 Fault
356
357 |**Servo drive panel display**|**Fault name**
358 |[[image:image-20220709163326-52.png]]|AD current sampling conversion error
359
360
361 Troubleshooting
362
363 |**Reason**|**Troubleshooting methods**|**Handling**
364 |Current sampling timeout|(% rowspan="2" %)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" %)If there is still alarm after multiple power-on, contact the technician.
365 |current sensor error
366
367 **Er.05 FPGA communication abnormal**
368
369 Fault
370
371 |**Servo drive panel display**|**Fault name**
372 |[[image:image-20220709163326-53.png]]|FPGA communication abnormal
373
374 Troubleshooting
375
376 |**Reason**|**Troubleshooting methods**|**Handling**
377 |FPGA communication abnormal|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.
378
379 **Er.06 Wrong FPGA program version**
380
381 Fault
382
383 |**Servo drive panel display**|**Fault name**
384 |[[image:image-20220709163326-54.png]]|Wrong FPGA program version
385
386 Troubleshooting
387
388 |**Reason**|**Troubleshooting methods**|**Handling**
389 |The FPGA program version does not match firmware version|Check whether the monitoring quantity of servo drive U2-04 (firmware version) and U2-05 (hardware version) conform to the following table|Contact technical to upgrade FPGA (hardware version)
390 |Servo drive fault|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.
391
392
393 |**Firmware version**|**Hardware version**
394 |1.00|1.00
395 |1.10|1.01
396 |1.11|1.01
397 |1.12|1.01
398 |1.13|1.01
399 |1.14|1.01
400
401 Table 10-1 The firmware version and hardware version relationship of VD2-0SA1G servo drive
402
403 **Er.07 Clock abnormal**
404
405 Fault
406
407 |**Servo drive panel display**|**Fault name**
408 |[[image:image-20220709163326-55.png]]|Clock abnormal
409
410
411 Troubleshooting
412
413 |**Reason**|**Troubleshooting methods**|**Handling**
414 |(% rowspan="2" %)External interference|Check for strong magnetic fields nearby|Eliminate nearby strong magnetic interference
415 |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.
416 |Servo drive fault|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.
417
418 **Er.20 Overcurrent**
419
420 Fault
421
422 |**Servo drive panel display**|**Fault name**
423 |[[image:image-20220709163326-56.png]]|Overcurrent
424
425 Troubleshooting
426
427 |**Reason**|**Troubleshooting methods**|**Handling**
428 |The UVW phase sequence of motor power cable is incorrect|Check whether the phase sequence of the motor power cable on the servo drive side and motor side corresponds to each other.|Connect correctly according to UVW on the drive side and UVW on the motor side
429 |Motor power lines are short-circuited|Check whether power line UVW is short-circuited to PE|Replace motor power line
430 |The motor power line wiring port is poorly contacted|Check whether the motor power line connection port is connected reliably|Tighten the fixing screws of the motor power line connection ports
431 |(% rowspan="4" %)Abnormal braking resistance|Internal brake resistance wiring error: check whether C, D are connected to the short cap and the contact is normal|Connect the short cap or short wire between C and D reliably
432 |External braking resistor wiring error: Check whether the external resistor is connected reliably between P+ and C.|External braking resistance is reliably strung between P+ and C
433 |Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.|(((
434 Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
435
436 Contact technician to replace the internal braking resistor
437 )))
438 |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|Choose a suitable external braking resistor
439 |(% rowspan="3" %)Encoder wiring error; loose plug|Check whether the cable port (CN1) of the encoder is properly connected|Tighten the fixing screws on the CN1 port
440 |Check whether the servo drive CN1 port jack is deformed|If the cable is deformed, replace the cable or its port
441 |Check whether both ends of the rectangular connector are reliably connected|Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
442 |(% rowspan="2" %)Unreasonable parameter settings|Check whether P03-02 (Load rigidity Level) is set properly|Reduce the P03-02 (load stiffness level) setting value appropriately
443 |Check whether the gain parameters are set properly, resulting in overshoot|Adjust gain parameters reasonably
444 |Frequent acceleration and deceleration|Check whether the acceleration and deceleration motion is frequent or the acceleration and deceleration time is too small|Appropriately extend the acceleration and deceleration time
445 |Internal servo drive fault|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.|Contact technician for repair
446
447 **Er.21 Main power supply undervoltage**
448
449 Fault
450
451 |**Servo drive panel display**|**Fault name**
452 |[[image:image-20220709163326-57.png]]|Main power supply undervoltage
453
454 Reason: DC bus voltage is lower than the fault value.
455
456 1. 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 200V.
457 1. 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 420V.
458
459 Troubleshooting
460
461 |**Reason**|**Troubleshooting methods**|**Handling**
462 |Power-off when VD2A drive is enabled|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”.|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.
463 |The power supply is unstable or OFF.|Check whether the drive input power specifications meet the following specifications:
464 220V drive: Valid value is 198V to 242V.
465 380V drive: Valid value is 342V to 440V.|Use after the power supply is stable;
466 Increase power supply capacity
467 |The voltage drops during operation of the servo drive|Check whether the servo drive shares the same power supply with other high loads|(((
468 Turn off other loads from the same main circuit power supply.
469
470 Separate power supply for servo drives
471 )))
472 |Missing phase (3-phase power supply operating on single-phase power)|(((
473 Check if the main circuit wiring is correct
474
475 VD2A: single-phase 220V input connected to L1, L3.
476
477 VD2 B: single-phase 220V input connected to L1, L3, and single-phase 220V input connected to L1C, L2C.
478
479 VD2 B: three-phase 220V input connected to L1, L2, L3.
480
481 VD2F: single-phase 220V input connected to L1, L2
482 )))|Connect the main circuit wiring correctly
483 |Internal servo drive fault|Observe whether the monitoring quantity U0-31 (bus voltage) is in the following range:
484 220V drive: U0-31 less than 200V;
485 380V drive: U0-31 less than 400V.|Contact technician for repair
486
487 **Er.22 Main power supply undervoltage**
488
489 Fault
490
491 |**Servo drive panel display**|**Fault name**
492 |[[image:image-20220709163326-58.png]]|Main power supply undervoltage
493
494 Reason: DC bus voltage is lower than the fault value.
495
496 1. 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 390V.
497 1. 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 670V.
498
499 Troubleshooting
500
501 |**Reason**|**Troubleshooting methods**|**Handling**
502 |The input voltage is too high|Check whether the drive input power specifications meet the following specifications:
503 220V drive: Valid value is 198V to 242V.
504 380V drive: Valid value is 342V to 440V.|Replace or adjust power supply
505 |The power supply is not stable or struck by lightning|Check whether the input power supply of the servo drive meets the specifications and monitor whether it has been struck by lightning.|(((
506 used after the power supply is stable
507
508 Connect to surge suppressor
509 )))
510 |(% rowspan="4" %)Abnormal braking resistance|Internal brake resistance wiring error: check whether C, D are connected to the short cap and the contact is normal|Connect the short cap or short wire between C and D reliably
511 |External braking resistor wiring error: Check whether the external resistor is connected reliably between P+ and C.|External braking resistance is reliably strung between P+ and C
512 |Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.|(((
513 Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
514
515 Contact technician to replace the internal braking resistor
516 )))
517 |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.|Choose a suitable external braking resistor
518 |The motor is in a state of rapid acceleration and deceleration motion|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.|Ensure that the input voltage is within specification and increase acceleration and deceleration times
519 |Internal servo drive fault|The servo drive is still faulty after power on again|Servo drive may be damaged.Contact technician for repair
520
521 **Er.23 Braking resistor is not connected**
522
523 Fault
524
525 |**Servo drive panel display**|**Fault name**
526 |[[image:image-20220709163326-59.png]]|Braking resistor is not connected
527
528 Troubleshooting
529
530 |**Reason**|**Troubleshooting methods**|**Handling**
531 |Internal brake resistance wiring error|Check whether C, D are connected to the short cap and the contact is normal|When using an internal braking resistor, reliably connect the shorting cap or shorting wire between C and D
532 |External braking resistor wiring error|Check whether the external resistor is connected reliably between P+ and C.|When using an external braking resistor, the external resistor is reliably strung between P+ and C
533 |Internal braking resistor damaged|The servo drive is powered off. Detects whether the resistance between P+ and D is 50Ω|(((
534 Contact the technician to replace the internal braking resistor.
535
536 Use an external braking resistor and change the relevant parameters of the P00 "Basic Settings".
537 )))
538
539 **Er.24 Braking resistor turns on abnormally**
540
541 Fault
542
543 |**Servo drive panel display**|**Fault name**
544 |[[image:image-20220709163326-60.png]]|Braking resistor is not connected
545
546
547 Troubleshooting
548
549 |**Reason**|**Troubleshooting methods**|**Handling**
550 |Internal servo drive fault|The servo drive is still faulty after power on again|Servo drive may be damaged.Contact technician for repair
551
552
553 **Er.25 Braking resistor resistance is too large**
554
555 Fault
556
557 |**Servo drive panel display**|**Fault name**
558 |[[image:image-20220709163326-61.png]]|Braking resistor resistance is too large
559
560 Troubleshooting
561
562 |**Reason**|**Troubleshooting methods**|**Handling**
563 |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.|Choose a suitable external braking resistor
564 |Unreasonable parameter settings|Check whether the value of servo drive P00-10 (external brake resistance) is set too high|Reasonably set the P00-10 (external braking resistor resistance) parameter value
565 |Servo drive firmware fault|(((
566 Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
567
568 VD2-0xxSA1G model: earlier than V1.14.
569
570 VD2F-0xxSA1P model: earlier than V1.02
571 )))|(((
572 VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
573
574 VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
575 )))
576
577
578 **Er.26 Braking resistor resistance is too large**
579
580 Fault
581
582 |**Servo drive panel display**|**Fault name**
583 |[[image:image-20220709163326-62.png]]|Braking resistor resistance is too large
584
585 Troubleshooting
586
587 |**Reason**|**Troubleshooting methods**|**Handling**
588 |Servo drives do not support this motor|Check whether the servo driver model supports the motor|Contact technical for suitable recommendations of servo drive model or motor model.
589 |Wrong motor model|Check whether the Motor Code is consistent with the Motor nameplate|Contact technician to record the motor Motor Code
590
591 **Er.27 Encoder disconnection**
592
593 Fault
594
595 |**Servo drive panel display**|**Fault name**
596 |[[image:image-20220709163326-63.png]]|Encoder disconnection
597
598 Troubleshooting
599
600 |**Reason**|**Troubleshooting methods**|**Handling**
601 |(% rowspan="2" %)Poor contact on CN1 port|Check whether the cable port (CN1) of the encoder is properly connected|Tighten the fixing screws on the CN1 port
602 |Check whether the servo drive CN1 port jack is deformed|If the cable is deformed, replace the cable or its port
603 |Poor contact on adapter port (Rectangular connection cable)|Check whether both ends of the rectangular connector are reliably connected|Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
604 |Wrong encoder cable wiring|Check whether the both ends of the encoder cable are correctly connected|Adjust wiring according to the corresponding relationship of pins;
605 The standard encoder cable of the manufacturer is preferred.
606
607 **Er.28 Encoder Z pulse lost**
608
609 Fault
610
611 |**Servo drive panel display**|**Fault name**
612 |[[image:image-20220709163326-64.png]]|Encoder Z pulse lost
613
614 Troubleshooting
615
616 |**Reason**|**Troubleshooting methods**|**Handling**
617 |Wrong motor model|Check whether the Motor Code is consistent with the Motor nameplate|Contact technician to record the motor Motor Code
618 |(% rowspan="2" %)External interference|Check for strong magnetic fields nearby|Eliminate nearby strong magnetic interference
619 |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.
620 |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.
621
622 **Er.30 Encoder UVW signal error**
623
624 Fault
625
626 |**Servo drive panel display**|**Fault name**
627 |[[image:image-20220709163326-65.png]]|Encoder UVW signal error
628
629 Troubleshooting
630
631 |**Reason**|**Troubleshooting methods**|**Handling**
632 |External interference|Check that the motor and servo drive are well grounded|Motor and servo drive are well grounded
633 |Encoder cable fault|Cross-verification. Use the normal motor, encoder cable to connect to the servo drive.|Replace it with an encoder cable with higher connection reliability.
634 |Servo drive fault|The servo drive is still faulty after power on again|Servo drive may be damaged.Contact technician for repair
635
636 **Er.31 Power line disconnection**
637
638 Fault
639
640 |**Servo drive panel display**|**Fault name**
641 |[[image:image-20220709163326-66.png]]|Power line disconnection
642
643 Troubleshooting
644
645 |**Reason**|**Troubleshooting methods**|**Handling**
646 |The motor power line wiring port is poorly contacted|Check whether the motor power line connection port is connected reliably|Tighten the fixing screws of the motor power line connection ports
647 |The power cable is disconnected|Check the power cable for disconnections at both ends|Replace the power cable and power on again.
648 |Poor contact on adapter port (Rectangular connection cable)|Check whether both ends of the rectangular connector are reliably connected|Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
649
650
651 **Er.32 Exceeds motor maximum speed**
652
653 Fault
654
655 |**Servo drive panel display**|**Fault name**
656 |[[image:image-20220709163326-67.png]]|Exceeds motor maximum speed
657
658 Troubleshooting
659
660 |**Reason**|**Troubleshooting methods**|**Handling**
661 |The UVW phase sequence of motor power cable is incorrect|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
662 |(% rowspan="2" %)P01-10 parameter Settings are incorrect|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" %)Reset P01-10 (maximum speed threshold) according to mechanical requirements
663 |(((
664 Check whether the motor speed corresponding to the input instruction exceeds P01-10 (maximum speed threshold).
665
666 Position mode, when the instruction is from a pulse instruction (P01-06 = 0).
667
668 Motor speed (rpm) = input pulse frequency (Hz) * 60 * electronic gear ratio / encoder resolution
669 )))
670 |Servo drive fault|The servo drive is still faulty after power on again|Servo drive may be damaged. Please replace the servo drive.
671
672
673 **Er.33 Power module is over temperature**
674
675 Fault
676
677 |**Servo drive panel display**|**Fault name**
678 |[[image:image-20220709163326-68.png]]|Power module is over temperature
679
680 Troubleshooting
681
682 |**Reason**|**Troubleshooting methods**|**Handling**
683 |Ambient temperature is too high|Measure the ambient temperature|Reduce the ambient temperature of the servo drive
684 |The cooling fan is faulty|Check the servo drive fan for blockage or damage|Contact technician for fan repair or replacement
685 |The servo drive is mounted in an unreasonable orientation or the spacing between the servo drives is unreasonable|Check whether the servo drive installation is reasonable|Contact technical to obtain the installation standard of the servo drive
686 |Servo drive fault|Restarting after 10 minutes of power failure is still reported|Servo drive may be damaged. Please replace the servo drive.
687
688 **Er.34 Motor overload protection**
689
690 Fault
691
692 |**Servo drive panel display**|**Fault name**
693 |[[image:image-20220709163326-69.png]]|Motor overload protection
694
695 Troubleshooting
696
697 |**Reason**|**Troubleshooting methods**|**Handling**
698 |Motor power cable, encoder cable wiring error|Check whether the motor power cable and encoder cable wiring are correct.|(((
699 Connect them according to the correct connection method.
700
701 Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
702 )))
703 |The load is too large|Check overload characteristics of motor or servo drive|(((
704 Reduce the load.
705
706 Contact technical to obtain the appropriate capacity drive and motor model.
707 )))
708 |Frequent acceleration and deceleration|Check whether the acceleration and deceleration motion is frequent or the acceleration and deceleration time is too small|Appropriately extend the acceleration and deceleration time
709 |Motor model and servo driver do not match|Check the monitoring quantity U0-53 (motor model code).|Contact technician to obtain the matching motor model.
710 |(% rowspan="3" %)Unreasonable parameters|Use Wecon SCTools to obtain the actual torque waveform and observe whether overshoot is obvious|Set the appropriate loop gain parameters
711 |Observe whether the motor vibrates during operation|Set the appropriate rigidity level
712 |Check whether p10-04 (Motor overload protection time coefficient) is reasonable|Increase P10-04 (motor overload protection time factor) in the case of ensuring that the motor will not burn out.
713 |Motor blockage|Check if the motor is blocked due to mechanical jamming of the load.|Release the mechanical jam.
714 |The brakes are not open|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
715 |Servo drive fault|The servo drive is still faulty after power on again|Servo drive may be damaged, please contact technician for repair.
716
717 **Er.35 Electronic gear ratio exceeds limit**
718
719 Fault
720
721 |**Servo drive panel display**|**Fault name**
722 |[[image:image-20220709163326-70.png]]|Electronic gear ratio exceeds limit
723
724 Troubleshooting
725
726 |**Reason**|**Troubleshooting methods**|**Handling**
727 |The electronic gear ratio setting is greater than the settable range|(((
728 Check that the ratio of function codes P01-17/P01-18, P01-19/P01-20 is in the following range.
729
730 17bit absolute encoder upper limit value: 500.
731
732 23bit absolute encoder upper limit value: 32000
733 )))|(% rowspan="2" %)After modifying the corresponding function code according to the range, set P10-03 (fault clearance) to 1.
734 |The electronic gear ratio setting is less than the settable range|(((
735 Check that the ratio of function codes P01-17/P01-18, P01-19/P01-20 is in the following range.
736
737 17bit absolute encoder lower limit value: 500.
738 )))
739
740 **Er.36 Position deviation is too large**
741
742 Fault
743
744 |**Servo drive panel display**|**Fault name**
745 |[[image:image-20220709163326-71.png]]|Position deviation is too large
746
747 Troubleshooting
748
749 |**Reason**|**Troubleshooting methods**|**Handling**
750 |(% rowspan="2" %)Cable error|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
751 |Check whether both ends of the power cable are disconnected|Replace the power cable and power on again
752 |(% rowspan="4" %)Unreasonable parameter settings|Check whether P03-02 (Load rigidity Level) is set properly|Reduce the P03-02 (load stiffness level) setting value appropriately
753 |Check whether the gain parameters are set properly, resulting in overshoot|Adjust gain parameters reasonably
754 |Check whether P00-25 (position deviation threshold) is set properly|Increase the value of P00-25 (position deviation threshold)
755 |Use Wecon SCTools to obtain the equivalent speed of the position instruction and check whether the speed is greater than the motor speed limit|Increase the setting values of P01-12 (forward speed threshold) and P01-13 (reverse speed threshold) according to mechanical requirements
756 |Motor blockage|Check if the motor is blocked due to mechanical jamming of the load.|Release the mechanical jam.
757 |The brakes are not open|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
758 |The input pulse frequency is too high|Position mode: when the instruction comes from the pulse instruction (P01-06=0), check whether the input pulse frequency is too high|Reduce the input pulse frequency
759 |The equivalent velocity of position instruction changes too fast|Check if the position instruction changes too fast in the equivalent speed|Properly increase the acceleration and deceleration time and reduce the rate of change of the speed
760
761 **Er.37 Torque saturation abnormal**
762
763 Fault
764
765 |**Servo drive panel display**|**Fault name**
766 |[[image:image-20220709163326-72.png]]|Torque saturation abnormal
767
768 Troubleshooting
769
770 |**Reason**|**Troubleshooting methods**|**Handling**
771 |Motor power line cable UVW phase sequence error|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
772 |(% rowspan="4" %)Unreasonable parameter settings|Check whether P01-19 Torque saturation timeout) is set properly|Increase P01-19 Torque saturation timeout) setting value appropriately
773 |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
774 |Check whether the gain parameters are set properly|Adjust gain parameters reasonably
775 |Check whether the gain parameters are set properly|Increase the acceleration and deceleration time
776 |The load is too heavy|Check whether the load is too heavy|Reduce the load
777 |Motor blockage|Check whether the motor is blocked due to mechanical jamming of the load.|Release the mechanical jam.
778 |The brakes are not open|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
779 |Limit switches are mounted outside the travel|Check whether the limit switch is installed outside the travel|Adjust the installation position of limit switch
780
781
782 **Er.38 Main circuit electricity is lack of phase**
783
784 Fault
785
786 |**Servo drive panel display**|**Fault name**
787 |[[image:image-20220709163326-73.png]]|Main circuit electricity is lack of phase
788
789 Troubleshooting
790
791 |**Reason**|**Troubleshooting methods**|**Handling**
792 |(% rowspan="2" %)Cable error|Check whether the motor power line connection port is connected reliably|Tighten the fixing screws of the motor power line connection ports
793 |Check the power cable for disconnections at both ends|Replace the power cable and power on again.
794 |Three-phase specification drives run on single-phase power supplies|Check whether the three-phase drive has a single-phase power supply|Connect a three-phase power supply according to the power supply specifications
795 |The power supply is unstable or off|(((
796 Check that the drive input power specifications meet the specifications:
797
798 220V drive valid value: 198V to 242V.
799
800 380V drive valid value: 342V to 418V
801 )))|Use after the power supply is stable.
802 |Servo drive fault|The servo drive is still faulty after power on again|Servo drive may be damaged, please contact technician for repair.
803
804 **Er.39 Emergency stop**
805
806 Fault
807
808 |**Servo drive panel display**|**Fault name**
809 |[[image:image-20220709163326-74.png]]|Emergency stop
810
811 Troubleshooting
812
813 |**Reason**|**Troubleshooting methods**|**Handling**
814 |(% rowspan="2" %)Servo drive receives emergency stop instructions|Check whether emergency stop protection is triggered manually|Power on the servo drive again
815 |(((
816 Check whether the servo drive has mistakenly triggered the emergency stop signal.
817
818 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.
819 )))|(((
820 Properly wire the DI port
821
822
823 )))
824
825 **Er.40 Encoder battery failure**
826
827 Fault
828
829 |**Servo drive panel display**|**Fault name**
830 |[[image:image-20220709163326-75.png]]|Encoder battery failure
831
832
833 Troubleshooting
834
835 |**Reason**|**Troubleshooting methods**|**Handling**
836 |Multi-turn absolute encoder is not connected to the battery during the power off of the servo drive|Check if the encoder is connected to the battery during the power off of the servo|Set P10-03 (Fault clearing) to 1
837 |The voltage of multi-turn absolute encoder battery is low|Measure battery voltage|Contact technicians to replace with a new encoder battery
838
839 **Er.41 Motor (encoder) over temperature**
840
841 Fault
842
843 |**Servo drive panel display**|**Fault name**
844 |[[image:image-20220709163326-76.png]]|Motor (encoder) over temperature
845
846 Troubleshooting
847
848 |**Reason**|**Troubleshooting methods**|**Handling**
849 |The motor is overloaded|Check whether the motor is overloaded|Reduce the load of the motor
850
851 **Er.42 Encoder write fault fault**
852
853 Fault
854
855 |**Servo drive panel display**|**Fault name**
856 |[[image:image-20220709163326-77.png]]|Encoder write faults
857
858 Troubleshooting
859
860 |**Reason**|**Troubleshooting methods**|**Handling**
861 |(% rowspan="2" %)Poor contact of CN1 port|Check whether the cable port (CN1) of the encoder is properly connected|Tighten the fixing screws on the CN1 port
862 |Check whether the servo drive CN1 port jack is deformed|If the cable is deformed, replace the cable or its port
863 |Poor contact on adapter port (Rectangular connection cable)|Check whether both ends of the rectangular connector are reliably connected|Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
864 |(% rowspan="2" %)External interference|Check for strong magnetic fields nearby|Eliminate nearby strong magnetic interference
865 |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.
866 |Servo drive fault|The servo drive is still faulty after power on again|Servo drive may be damaged, please contact technician for repair.
867
868 **Er.60 ADC conversion is not complete**
869
870 Fault
871
872 |**Servo drive panel display**|**Fault name**
873 |[[image:image-20220709163326-78.png]]|ADC conversion is not complete
874
875 Troubleshooting
876
877 |**Reason**|**Troubleshooting methods**|**Handling**
878 |(% rowspan="2" %)External interference|Check for strong magnetic fields nearby|Eliminate nearby strong magnetic interference
879 |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.
880 |Servo drive fault|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.
881
882 **Er.61 Internal software fault**
883
884 Fault
885
886 |**Servo drive panel display**|**Fault name**
887 |[[image:image-20220709163326-79.png]]|Internal software fault
888
889 Troubleshooting
890
891 |**Reason**|**Troubleshooting methods**|**Handling**
892 |Servo drive fault|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.
893
894 **Er.62 Internal software fault**
895
896 Fault
897
898 |**Servo drive panel display**|**Fault name**
899 |[[image:image-20220709163326-80.png]]|Internal software fault
900
901 Troubleshooting
902
903 |**Reason**|**Troubleshooting methods**|**Handling**
904 |Servo drive fault|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.
905
906 **Er.63 Internal software fault**
907
908 Fault
909
910 |**Servo drive panel display**|**Fault name**
911 |[[image:image-20220709163326-81.png]]|Internal software fault
912
913 Troubleshooting
914
915 |**Reason**|**Troubleshooting methods**|**Handling**
916 |Servo drive fault|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.
917
918
919 **Er.64 Internal software fault**
920
921 Fault
922
923 |**Servo drive panel display**|**Fault name**
924 |[[image:image-20220709163326-82.png]]|Internal software fault
925
926 Troubleshooting
927
928 |**Reason**|**Troubleshooting methods**|**Handling**
929 |Servo drive fault|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.
930
931 **Er.65 Internal software fault**
932
933 Fault
934
935 |**Servo drive panel display**|**Fault name**
936 |[[image:image-20220709163326-83.png]]|Internal software fault
937
938 Troubleshooting
939
940 |**Reason**|**Troubleshooting methods**|**Handling**
941 |Servo drive fault|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.
942
943 **A-81 Overspeed alarm**
944
945 Fault
946
947 |**Servo drive panel display**|**Fault name**
948 |[[image:image-20220709163326-84.png]]|Overspeed alarm
949
950 Troubleshooting
951
952 |**Reason**|**Troubleshooting methods**|**Handling**
953 |Motor power line cable UVW phase sequence error|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
954 |P01-11 parameter setting is not proper|Check whether the value of P01-11 (warning speed threshold) is less than the max speed required for the operation of motor|Reset P01-11 (warning speed threshold) according to mechanical requirements
955 |Input speed command is too high|Check whether the motor speed corresponding to the input command exceeds P01-11 (maximum speed threshold)|Reduce the input speed instruction according to the mechanical requirements; Reasonably increase P01-11 (warning speed threshold)
956
957
958 **A-82 Overload**
959
960 Fault
961
962 |**Servo drive panel display**|**Fault name**
963 |[[image:image-20220709163326-85.png]]|Overload
964
965 Troubleshooting
966
967 |**Reason**|**Troubleshooting methods**|**Handling**
968 |Motor power cable, encoder cable wiring error|Check whether the motor power cable and encoder cable wiring are correct.|(((
969 Connect them according to the correct connection method.
970
971 Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
972 )))
973 |The load is too large|Check overload characteristics of motor or servo drive|Reduce the load. Contact technical to obtain the appropriate capacity drive and motor model.
974 |Frequent acceleration and deceleration|Check whether the acceleration and deceleration motion is frequent or the acceleration and deceleration time is too small|Appropriately extend the acceleration and deceleration time
975 |Motor model and servo driver do not match|Perform inertia identification and check the inertia ratio.|Contact technician to obtain the matching motor model.
976 |Motor model and servo driver do not match|Check the monitoring quantity U0-53 (motor model code).|Contact technician to obtain the matching motor model.
977 |(% rowspan="2" %)Unreasonable parameters|Use Wecon SCTools to obtain the actual torque waveform and observe whether overshoot is obvious|Set the appropriate loop gain parameters
978 |Observe whether the motor vibrates during operation|Set the appropriate rigidity level
979
980 **A-83 Braking resistor is over temperature or overloaded**
981
982 Fault
983
984 |**Servo drive panel display**|**Fault name**
985 |[[image:image-20220709163326-86.png]]|Braking resistor is over temperature or overloaded
986
987 Troubleshooting
988
989 |**Reason**|**Troubleshooting methods**|**Handling**
990 |Improper connection of internal braking resistor|Check whether C, D are connected to the short cap and the contact is normal|When using an internal braking resistor, reliably connect the shorting cap or shorting wire between C and D
991 |Improper connection of external braking resistor|Remove the external braking resistor and measure whether the resistance value is "[[image:image-20220709163326-87.png]]" (infinity)|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.
992 |The resistance value of the external braking resistor is too large|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.|Use a suitable external braking resistor.
993 |Improper parameter setting|(((
994 When using an external braking resistor, check the following parameters.
995
996 Whether P00-09 (braking resistor setting) is reasonable.
997
998 P00-10 (external braking resistor resistance value) is reasonable.
999 )))|(((
1000 Reasonable setting of P00-09 (braking resistor setting):
1001
1002 P00-09=1 (use external braking resistor and natural cooling)
1003
1004 P00-09 = 3 (do not use the braking resistor, all by capacitor absorption)
1005
1006 P00-10 (external braking resistor resistance value) parameter value and the actual actual use of external braking resistor are consistent.
1007 )))
1008
1009
1010 **A-84 Parameter modification that needs to be powered on again**
1011
1012 Fault
1013
1014 |**Servo drive panel display**|**Fault name**
1015 |[[image:image-20220709163326-88.png]]|Braking resistor is over temperature or overloaded
1016
1017 Troubleshooting
1018
1019 |**Reason**|**Troubleshooting methods**|**Handling**
1020 |Modified the effective timing to "power on again" parameter.|Check whether the servo drive has modified the parameter with the effective time "power on again".|Power on again
1021
1022 **A-85 Receive position pulse when servo is OFF**
1023
1024 Fault
1025
1026 |**Servo drive panel display**|**Fault name**
1027 |[[image:image-20220709163326-89.png]]|Receive position pulse when servo is OFF
1028
1029 Troubleshooting
1030
1031 |**Reason**|**Troubleshooting methods**|**Handling**
1032 |Servo received position pulse when it is OFF.|Check whether the servo drive is in the OFF state, and check whether the host computer is sending pulse instruction.|(% rowspan="2" %)The host computer stops sending pulse instructions.
1033 |Servo received pulse instruction in non-position mode|(((
1034 Check whether the servo drive P00-01 (control mode) is in position mode;
1035
1036 Check whether the host computer is sending pulse instructions
1037 )))
1038
1039 **A-86 Input pulse frequency is too high**
1040
1041 Fault
1042
1043 |**Servo drive panel display**|**Fault name**
1044 |[[image:image-20220709163326-90.png]]|Input pulse frequency is too high
1045
1046 Troubleshooting
1047
1048 |**Reason**|**Troubleshooting methods**|**Handling**
1049 |The input pulse frequency is too high|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
1050 |(% rowspan="2" %)Improper parameter setting|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).
1051 |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
1052
1053 **A-88 Main circuit momentary power off**
1054
1055 Fault
1056
1057 |**Servo drive panel display**|**Fault name**
1058 |[[image:image-20220709163326-91.png]]|Main circuit momentary power off
1059
1060 Troubleshooting
1061
1062 |**Reason**|**Troubleshooting methods**|**Handling**
1063 |Power off|(((
1064 Check that the drive input power specifications meet the specifications:
1065
1066 220V drive valid value: 198V to 242V.
1067
1068 380V drive valid value: 342V to 418V
1069 )))|Use it after the power supply is stable
1070 |Servo drive fault|The servo drive is still faulty after power on again|Servo drive may be damaged, please contact technician for repair.
1071
1072 **A-89 DI port configuration is duplicate**
1073
1074 Fault
1075
1076 |**Servo drive panel display**|**Fault name**
1077 |[[image:image-20220709163326-92.png]]|DI port configuration is duplicate
1078
1079 Troubleshooting
1080
1081 |**Reason**|**Troubleshooting methods**|**Handling**
1082 |The same non-zero DI function is assigned to multiple DI ports|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|(((
1083 Configuring each DI port for different DI functions and power on again.
1084
1085 Configure the function of the unwanted DI ports to 0 (off) and power on again.
1086
1087 Factory reset the parameter P10-02=1, and power on again.
1088 )))
1089
1090 **A-90 DI port configuration is duplicate**
1091
1092 Fault
1093
1094 |**Servo drive panel display**|**Fault name**
1095 |[[image:image-20220709163326-93.png]]|DO port configuration i duplicate
1096
1097 Troubleshooting
1098
1099 |**Reason**|**Troubleshooting methods**|**Handling**
1100 |The same non-zero DO function is assigned to multiple DO ports|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|(((
1101 Configuring each DO port for different DO functions and power on again.
1102
1103 Configure the function of the unwanted DO ports to 0 (off) and power on again.
1104
1105 Factory reset the parameter P10-02=1, and power on again.
1106 )))
1107
1108
1109 **A-91 Parameter modification is too frequent**
1110
1111 Fault
1112
1113 |**Servo drive panel display**|**Fault name**
1114 |[[image:image-20220709163326-94.png]]|Parameter modification is too frequent
1115
1116 Troubleshooting
1117
1118 |**Reason**|**Troubleshooting methods**|**Handling**
1119 |Parameter modification is too frequent|Check whether the host computer frequently modifies the write parameters|Ensuring mechanical operation, reduce the frequency of modifying the write parameters of the host computer
1120
1121 **A-92 Low encoder battery voltage warning**
1122
1123 Fault
1124
1125 |**Servo drive panel display**|**Fault name**
1126 |[[image:image-20220709163326-95.png]]|Low encoder battery voltage warning
1127
1128 Troubleshooting
1129
1130 |**Reason**|**Troubleshooting methods**|**Handling**
1131 |The encoder battery voltage is less than 3.1V|Measure the encoder battery voltage|Contact technician to replace a new encoder battery
1132
1133
1134 **A-93 Abnormal and frequency of encoder read and write check is too high**
1135
1136 Fault
1137
1138 |**Servo drive panel display**|**Fault name**
1139 |[[image:image-20220709163326-96.png]]|Abnormal and frequency of encoder read and write check is too high
1140
1141 Troubleshooting
1142
1143 |**Reason**|**Troubleshooting methods**|**Handling**
1144 |(% rowspan="2" %)External interference|Check for strong magnetic fields nearby|Eliminate nearby strong magnetic interference
1145 |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.
1146 |Internal servo drive fault|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.|Contact technician for repair