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Wiki source code of 10 Malfunctions

Version 5.1 by Stone Wu on 2022/06/11 14:20
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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>>http://13.229.109.52:8080/wiki/servo/view/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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HGroupP06DIDOconfiguration]]__
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>>http://13.229.109.52:8080/wiki/servo/view/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>>http://13.229.109.52:8080/wiki/servo/view/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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#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>>http://13.229.109.52:8080/wiki/servo/view/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>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Group%20P06%20DI/DO%20configuration]]__
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>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Wiring]]__
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>>http://13.229.109.52:8080/wiki/servo/view/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>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Wiring]]__.
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>>http://13.229.109.52:8080/wiki/servo/view/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>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Group%20P06%20DI/DO%20configuration]]__
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>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Wiring]]__
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>>http://13.229.109.52:8080/wiki/servo/view/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>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Wiring]]__.
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
149 (% style="text-align:center" %)
150 [[image:ksjakfjk.png]]
151
152 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:
153
154 Category 1: faults cannot be cleared;
155
156 Category 2: faults are clearable;
157
158 Category 3: faults are clearable;
159
160 Category 4: warnings are clearable.
161
162 Among them, "clearable" means that the panel stops the fault display state by giving a "clear signal". The specific operations are as follows:
163
164 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.
165 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.
166 1. The clearing method of category 4 of clearable warnings: set P10-03=1 or use DI function 02.
167
168 |(% style="text-align:center; vertical-align:middle" %)(((
169 (% style="text-align:center" %)
170 [[image:ksjakfjk.png]]
171 )))
172 |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.
173
174 Associated function codes
175
176 |(% 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" %)(((
177 **Setting method**
178 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
179 **Effective time**
180 )))|(% 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**
181 |(% 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" %)(((
182 Operation setting
183 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
184 immediately Effective
185 )))|(% 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" %)(((
186 0: No operation
187
188 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.
189
190 ✎**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.
191 )))|(% style="text-align:center; vertical-align:middle" %)-
192
193 Associated function number:
194
195 |(% 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**
196 |(% 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" %)(((
197 DI port logic is invalid, no reset faults and warnings
198
199 DI port logic is valid, reset faults and warnings
200 )))
201
202 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.
203
204 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HGroupU1Warningmonitoring]]__.
205
206 == **Fault and warning code table** ==
207
208 **(1) The first category (category 1 for short) The fault could not be cleared**
209
210 |(% style="text-align:center; vertical-align:middle; width:96px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:274px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:377px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:119px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:605px" %)**Troubleshooting**
211 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Parameter destruction|(% style="vertical-align:middle; width:377px" %)EEPROM could not be read and written|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.01|(% style="vertical-align:middle; width:605px" %)The hardware interface could not read and write parameters, please contact the manufacturer to confirm whether the hardware is damaged.
212 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
213 Parameter storage error
214 )))|(% style="vertical-align:middle; width:377px" %)(((
215 Exceptions such as the version, total number, range, and validation failure of internal parameter storage.
216
217 Possible reasons are:
218
219 ✎The drive has undergone a software upgrade
220
221 ✎In the process of parameter storage, an instantaneous power failure occurs
222
223 ✎Frequent writing of parameters
224 )))|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.02|(% style="vertical-align:middle; width:605px" %)(((
225 ✎Check whether the program has been updated. If the parameter storage is abnormal due to the updated program, please update the parameters by restoring the factory default parameters and power on again.
226
227 ✎Re-power on and reset the parameters after restoring the factory default settings;
228
229 ✎Confirm whether the host computer writes parameters frequently, and modify the corresponding parameter writing method;
230 )))
231 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)ADC reference source faults|(% style="vertical-align:middle; width:377px" %)The internal analog reference source of the drive is not accurate|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.03|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
232 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)AD current sampling conversion error|(% style="vertical-align:middle; width:377px" %)Current sampling zero drift or current sensor error|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.04|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
233 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)FPGA communication abnormal|(% style="vertical-align:middle; width:377px" %)FPGA communication faults|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.05|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
234 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)The FPGA program version is wrong|(% style="vertical-align:middle; width:377px" %)The FPGA program version is wrong|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.06|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
235 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Clock abnormal|(% style="vertical-align:middle; width:377px" %)The internal clock of the drive is disturbed or abnormal|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.07|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
236 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
237 ADC conversion undone
238 )))|(% style="vertical-align:middle; width:377px" %)ADC conversion is not complete|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.60|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
239 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
240 Internal software Fault
241 )))|(% style="vertical-align:middle; width:377px" %)Torque loop error|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.61|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
242 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
243 Internal software Fault
244 )))|(% style="vertical-align:middle; width:377px" %)Speed loop error|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.62|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
245 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
246 Internal software Fault
247 )))|(% style="vertical-align:middle; width:377px" %)Illegal instruction|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.63|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
248 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
249 Internal software Fault
250 )))|(% style="vertical-align:middle; width:377px" %)Internal RAM parameter destruction|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.64|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
251 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
252 Internal software Fault
253 )))|(% style="vertical-align:middle; width:377px" %)Internal function code parameter destruction|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.65|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
254 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
255 Motor model error
256 )))|(% style="vertical-align:middle; width:377px" %)Incorrect motor model|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.26|(% style="vertical-align:middle; width:605px" %)Check whether the function code motor model setting is correct
257 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Encoder Z pulse lost|(% style="vertical-align:middle; width:377px" %)(((
258 No Z pulse signal appears when the motor rotates more than one turn.
259
260 The possible reasons are:
261
262 ✎Wrong motor model
263
264 ✎The motor encoder is disturbed or damaged;
265 )))|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.28|(% style="vertical-align:middle; width:605px" %)(((
266 ✎Check whether the motor model matches the drive model.
267
268 ✎Replace the motor and power on again.
269 )))
270 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Incremental encoder AB count is not equal to encoder line number*4|(% style="vertical-align:middle; width:377px" %)(((
271 Incremental encoder AB count is not equal to encoder line number*4.
272
273 The possible reasons are:
274
275 ✎The motor model is wrong;
276
277 ✎Hand interference or damage to the motor encoder;
278 )))|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.29|(% style="vertical-align:middle; width:605px" %)(((
279 ✎Check whether the motor model matches the drive model.
280
281 ✎Replace the motor model that matches the drive.
282 )))
283 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Encoder UVW signal error|(% style="vertical-align:middle; width:377px" %)Motor encoder UVW signal error|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.30|(% style="vertical-align:middle; width:605px" %)(((
284 ✎Check whether the motor model matches the drive model
285
286 ✎Replace the motor model that matches the drive.
287
288 ✎Replace encoder line
289 )))
290 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
291 Exceeds motor maximum speed
292 )))|(% style="vertical-align:middle; width:377px" %)(((
293 Exceeding the maximum speed threshold of function code P1-10. Possible reasons are:
294
295 ✎Wrong U/V/W phase sequence of motor power line
296
297 ✎Wrong t motor model
298
299 ✎Wrong transfer wiring of motor power line
300
301 ✎Wrong wiring of motor encoder
302 )))|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.32|(% style="vertical-align:middle; width:605px" %)(((
303 ✎Please check whether the motor power line is correctly wired;
304
305 ✎Confirm whether the motor model is correct;
306
307 ✎Use the correct power line and encoder line transfer wiring;
308 )))
309
310 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:273px" %)Overcurrent|(% style="width:379px" %)(((
311 The drive detects that the power device has overcurrent, the possible situations are:
312
313 ✎The motor power lines U, V, W are short-circuited to the ground
314
315 ✎Short circuit between the motor power lines U, V, W
316
317 ✎The motor power lines U, V, W have poor contact
318
319 ✎The internal damage of motor
320
321 ✎The encoder cable is aging and loose
322
323 ✎Excessive fluctuation of control power supply.
324 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.20|(% style="vertical-align:middle; width:605px" %)(((
325 ✎Please check whether the wiring of the motor power line is correct
326
327 ✎Whether the wiring of the motor power line is loose or short-circuited
328
329 ✎Replace the motor power line transfer line
330
331 ✎Replace the motor
332
333 ✎Replace the encoder transfer line
334
335 ✎If the above methods still cannot eliminate the fault, please contact the manufacturer.
336 )))
337 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:273px" %)(((
338 Braking resistor turns on abnormally
339 )))|(% style="width:379px" %)(((
340 The braking resistor bleeder is turned on, but no feedback signal is detected. The possible reasons are:
341
342 ✎The braking resistor failed to open;
343
344 ✎Braking resistor feedback detection faults;
345 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.24|(% style="vertical-align:middle; width:605px" %)The circuit of the brake release part may be damaged, please contact the manufacturer
346
347 **(2)The 2nd category (category 2 for short) clearable faults**
348
349 |(% style="text-align:center; vertical-align:middle; width:97px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:276px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:379px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:601px" %)**Troubleshooting**
350 |(% style="text-align:center; vertical-align:middle; width:97px" %)Category 2|(% style="text-align:center; vertical-align:middle; width:276px" %)Main power supply overvoltage|(% style="vertical-align:middle; width:379px" %)(((
351 The drive detects that the bus voltage is too high. The possible reasons are:
352
353 ✎Check whether the main power input voltage is normal.
354
355 220V drive power supply voltage range: -10% to +10% (198V to 242V)
356
357 380V drive power supply voltage range: -10% to +10% (342V to 418V)
358
359 ✎The resistance of the braking resistor is too large, causing the braking energy can not be absorbed in time.
360
361 ✎The load inertia is large and the motor accelerates and decelerates too fast, and the maximum braking energy exceeds the absorbable value.
362
363 ✎The bus voltage detection deviation is too large.
364 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.22|(% style="vertical-align:middle; width:601px" %)(((
365 ✎Check whether the mains input voltage is too high.
366
367 ✎Check whether the resistance of the braking resistor is reasonable.
368
369 ✎Extend the acceleration and deceleration time and choose a braking resistor with a lower resistance.
370 )))
371 |(% style="text-align:center; vertical-align:middle; width:97px" %)Category 2|(% style="text-align:center; vertical-align:middle; width:276px" %)Encoder disconnection|(% style="vertical-align:middle; width:379px" %)Encoder disconnection|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.27|(% style="vertical-align:middle; width:601px" %)(((
372 ✎Check whether the wiring of the motor encoder wire is loose. If it is, please tighten it.
373
374 ✎Replace the encoder cable, and then power on again.
375 )))
376 |(% style="text-align:center; vertical-align:middle; width:97px" %)Category 2|(% style="text-align:center; vertical-align:middle; width:276px" %)Power line disconnection|(% style="vertical-align:middle; width:379px" %)The motor power line is loose or disconnected|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.31|(% style="vertical-align:middle; width:601px" %)(((
377 ✎Check whether the wiring of motor power line is loose, if it is loose, please tighten it.
378
379 ✎Replace motor power line transfer cable, and then power on again.
380 )))
381
382 **(3) The 3rd Category (category 3 for short) clearable faults**
383
384 |(% style="text-align:center; vertical-align:middle; width:99px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:275px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:381px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:598px" %)**Troubleshooting**
385 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Main power supply undervoltage|(% style="vertical-align:middle; width:381px" %)(((
386 The bus voltage of the drive is lower than the limit value:
387
388 ✎220V drive: normal bus voltage 310V, undervoltage threshold 200V
389
390 ✎380V drive: normal bus voltage 540V, undervoltage threshold 400V
391
392 The possible causes of main power supply undervoltage are:
393
394 ✎The main power supply is not connected.
395
396 ✎The input voltage is low, or the voltage drops.
397
398 ✎The internal main power relay is damaged.
399 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.21|(% style="vertical-align:middle; width:598px" %)(((
400 ✎Check whether the drive input voltage is low. If it is, please increase the voltage or wait for the power supply to be normal, and then power on again to see if the fault is cleared.
401
402 ✎Check the input power voltage of drive to see if the voltage drops due to the change of the power load.
403 )))
404 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
405 Braking resistor is not connected
406 )))|(% style="vertical-align:middle; width:381px" %)(((
407 ✎When using the internal braking resistor, the shorting cap between C and D is disconnected.
408
409 ✎When using an external braking resistor, the resistor is not connected.
410
411 ✎The braking resistor status detection circuit is abnormal.
412 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.23|(% style="vertical-align:middle; width:598px" %)(((
413 ✎If using an internal braking resistor, please confirm whether the short-circuit jumper contact between C/D is in normal.
414
415 ✎If you use an external braking resistor, please make sure that the external braking resistor is reliably connected.
416
417 ✎If you use an external braking resistor, please confirm whether the resistance of the braking resistor is reasonable.
418
419 ✎If the above methods still cannot eliminate the fault, please contact the manufacturer.
420 )))
421 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
422 Braking resistor resistance is too large
423 )))|(% style="vertical-align:middle; width:381px" %)The braking resistor has been turned on, but the actual bus voltage is still rising. Braking resistor resistance may be too large|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.25|(% style="vertical-align:middle; width:598px" %)Please confirm whether the resistance of the braking resistor is reasonable.
424 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
425 Power module is over temperature
426 )))|(% style="vertical-align:middle; width:381px" %)(((
427 The temperature of the power module exceeds the normal value. The possible reasons are:
428
429 ✎The cooling fan is faulty, resulting in abnormal
430
431 ✎The ambient temperature is too high.
432
433 ✎The installation of the drive is unreasonable, and the interval is too small, resulting in abnormal heat dissipation.
434 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.33|(% style="vertical-align:middle; width:598px" %)(((
435 ✎Confirm whether the cooling fan is operating normally. If it is not normal, please replace the drive.
436
437 ✎Improve the ambient temperature.
438
439 ✎Install the servo drive according to the installation standard.
440 )))
441 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
442 Motor overload protection
443 )))|(% style="vertical-align:middle; width:381px" %)(((
444 The drive detects that the motor is running overloaded. The possible reasons are:
445
446 ✎The load is too large, and the motor works in a state that exceeds the rated torque for a long time.
447
448 ✎The load inertia is relatively large and the acceleration and deceleration are frequently performed at the same time.
449
450 ✎The speed loop and position loop gain parameter settings are unreasonable.
451
452 ✎The motor is blocked.
453
454 ✎Servo drive faults
455 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.34|(% style="vertical-align:middle; width:598px" %)(((
456 ✎Check whether the load of the motor is too large. If the load is too large, replace the motor and drive with a larger power.
457
458 ✎Increase the acceleration and deceleration time.
459
460 ✎Use the host computer software to observe the actual torque, and observe whether there is obvious speed overshoot. Adjust the appropriate loop gain parameters;
461
462 ✎Check the mechanical connection and troubleshoot.
463
464 ✎Replace servo drive.
465 )))
466 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Electronic gear ratio exceeds limit|(% style="vertical-align:middle; width:381px" %)(((
467 In the electronic gear ratio setting, the numerator/denominator ratio is less than the lower limit or greater than the upper limit;
468
469 The electronic gear ratio setting range is as follows:
470
471 2500 line incremental encoder, the electronic gear ratio range is 0.01 to 100.
472
473 For a 17-bit encoder, the electronic gear ratio range is 0.001 to 500.
474
475 For a 23-bit encoder, the electronic gear ratio range is 0.001 to 32000.
476 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.35|(% style="vertical-align:middle; width:598px" %)(((
477 Check whether the electronic gear numerator and denominator setting values of function codes P00-17 to P00-20 meets the conditions:
478
479 the numerator/denominator is within the range, and then power on again after modification.
480 )))
481 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
482 Position deviation is too large
483 )))|(% style="vertical-align:middle; width:381px" %)(((
484 The deviation of the current position pulse exceeds the setting value of P00-25 position deviation limit. The possible reasons for are:
485
486 ✎The motor U/V/W wire is not connected or disconnected.
487
488 ✎The phase sequence of the U/V/W wires of the motor is connected incorrectly.
489
490 ✎The motor load is too large, or the motor is blocked.
491
492 ✎The drive gain setting is unreasonable.
493
494 Position instruction equivalent speed changes too fast.
495 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.36|(% style="vertical-align:middle; width:598px" %)(((
496 ✎Check whether the wiring of the motor power line U/V/W is normal.
497
498 ✎Check the load condition of the motor. If the load is too large, please replace the drive and motor with higher power; if it is blocked, please check the machine.
499
500 ✎Set the gain parameters according to the method in the "Adjustment" chapter in the user manual.
501
502 ✎When the position instruction equivalent speed changes too much, the ramp time can be appropriately increased to reduce the speed change rate.
503 )))
504 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
505 Torque saturation abnormal
506 )))|(% style="vertical-align:middle; width:381px" %)(((
507 The torque reaches the maximum torque limit and exceeds the setting time of P01-19 function code. The possible reasons are:
508
509 ✎The load is too large, and the drive outputs with maximum torque, but it still cannot reach the target speed within the predetermined time.
510
511 ✎Whether the maximum forward torque limit and the maximum reverse torque limit are set too small.
512
513 ✎The motor is blocked.
514
515 ✎P01-19 torque limit time is set too short.
516
517 ✎The motor U/V/W line phase sequence is wrong.
518 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.37|(% style="vertical-align:middle; width:598px" %)(((
519 ✎Confirm whether the load is too large.
520
521 ✎According to the actual application, modify the forward torque limit and the maximum reverse torque limit to appropriate values.
522
523 ✎Check whether the machine is blocked.
524
525 ✎Confirm whether the setting of the function code P01-19 is reasonable.
526
527 ✎Confirm whether the motor U/V/W line phase sequence is correct.
528 )))
529 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
530 Main circuit electricity is lack of phase
531 )))|(% style="vertical-align:middle; width:381px" %)When the power of the three-phase drive is greater than 2.3kw, the main circuit power supply is connected to single-phase, and this fault will be reported.|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.38|(% style="vertical-align:middle; width:598px" %)(((
532 ✎Whether the drive of three-phase specification is running under single-phase power supply.
533
534 ✎Check whether the main circuit input L1, L2, L3 wiring is good.
535
536 ✎The three-phase power supply is unbalanced or the three-phase voltage is too low.
537 )))
538 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Emergency stop|(% style="vertical-align:middle; width:381px" %)The drive received an emergency stop instruction|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.39|(% style="vertical-align:middle; width:598px" %)(((
539 ✎Check whether it is a man-made emergency shutdown protection, if so, wait for other system faults to be removed and then power on again.
540
541 ✎If it is triggered by mistake, please check whether the wiring and function configuration of the DI terminal are normal.
542 )))
543 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Encoder battery failure|(% style="vertical-align:middle; width:381px" %)(((
544 ✎During power failure, the multi-turn absolute value motor is not connected to the battery.
545
546 ✎The encoder battery voltage is too low, less than 3V.
547 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.40|(% style="vertical-align:middle; width:598px" %)Replace with a new encoder battery
548 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Motor (encoder) over temperature|(% style="vertical-align:middle; width:381px" %)The motor encoder detects that the temperature exceeds 90 degrees Celsius.|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.41|(% style="vertical-align:middle; width:598px" %)Check whether the motor is overloaded
549 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Encoder write faults|(% style="vertical-align:middle; width:381px" %)The encoder write operation does not respond normally|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.42|(% style="vertical-align:middle; width:598px" %)Check whether the encoder and wiring are normal
550
551 **(4) The 4th category (category 4 for short) clearable warnings**
552
553 |(% style="text-align:center; vertical-align:middle; width:103px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:271px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:383px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:121px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:593px" %)**Troubleshooting**
554 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Overspeed alarm|(% style="vertical-align:middle; width:383px" %)The speed exceeds the alarm limit value|(% style="text-align:center; vertical-align:middle; width:121px" %)A-81|(% style="vertical-align:middle; width:593px" %)Check whether the setting value of function code P01-11 is too small, and then check whether the speed setting is too high.
555 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Overload|(% style="vertical-align:middle; width:383px" %)Motor overload warning|(% style="text-align:center; vertical-align:middle; width:121px" %)A-82|(% style="vertical-align:middle; width:593px" %)Check whether the load the motor is too large. If it is, replace the motor and drive with a larger power.
556 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Braking resistor is over temperature or overloaded|(% style="vertical-align:middle; width:383px" %)(((
557 ✎When the braking resistor is selected as the internal braking resistor, it means over temperature.
558
559 ✎When the braking resistor is externally connected, it means overload.
560 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)A-83|(% style="vertical-align:middle; width:593px" %)(((
561 ✎Please confirm whether the load inertia is too large.
562
563 ✎Please confirm whether it starts and stops frequently, and whether the speed is too high.
564
565 ✎Please check whether the actual resistance value is greater than the set value.
566 )))
567 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Parameter modification that needs to be powered on again|(% style="vertical-align:middle; width:383px" %)Modified the parameters that need to be re-powered on to take effect|(% style="text-align:center; vertical-align:middle; width:121px" %)A-84|(% style="vertical-align:middle; width:593px" %)Re-power on or clear the alarm
568 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Receive position pulse when servo is OFF|(% style="vertical-align:middle; width:383px" %)Servo received pulse instruction in non-SON state or non-position mode|(% style="text-align:center; vertical-align:middle; width:121px" %)A-85|(% style="vertical-align:middle; width:593px" %)Please check the control signal timing of the host device, the servo is stopped or the pulse is still being sent in the non-position mode.
569 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
570 Input pulse
571
572 frequency is too high
573 )))|(% style="vertical-align:middle; width:383px" %)The equivalent speed of the input frequency of the instruction pulse is too large|(% style="text-align:center; vertical-align:middle; width:121px" %)A-86|(% style="vertical-align:middle; width:593px" %)Check whether the setting of the pulse input frequency and the instruction pulse number of one turn of the motor (P00-16) or the electronic gear ratio (P00-17 to P00-20) is reasonable.
574 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
575 Main circuit momentary
576
577 power off
578 )))|(% style="vertical-align:middle; width:383px" %)The main circuit input voltage is momentarily too low|(% style="text-align:center; vertical-align:middle; width:121px" %)A-88|(% style="vertical-align:middle; width:593px" %)Check whether the mains input has voltage, and then power on again or clear the alarm; if the mains is normal and the alarm still exists, please contact the manufacturer.
579 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)DI port configuration is duplicate|(% style="vertical-align:middle; width:383px" %)Different DI ports are set to the same DI function|(% style="text-align:center; vertical-align:middle; width:121px" %)A-89|(% style="vertical-align:middle; width:593px" %)✎**Note: **Check DI channel function selection: DI_1 channel function selection (P06-02) to DI_8 channel function selection (P06-23)in function code "DIDO configuration", and check whether the 8 DI channel function selections are duplicated. If yes, close the unnecessary channels, and then power on again.
580 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)DO port configuration is duplicate|(% style="vertical-align:middle; width:383px" %)Different DO ports are set to the same DO function|(% style="text-align:center; vertical-align:middle; width:121px" %)A-90|(% style="vertical-align:middle; width:593px" %)Check DO channel function selection: DO_1 channel function selection (P06-26) to DI_4 channel function selection (P06-32)in function code "DIDO configuration", and check whether the 4 D0 channel function selections are duplicated. If yes, close the unnecessary channels, and then power on again.
581 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Parameter modification is too frequent|(% style="vertical-align:middle; width:383px" %)The frequency of communication to modify function code parameters is too frequent|(% style="text-align:center; vertical-align:middle; width:121px" %)A-91|(% style="vertical-align:middle; width:593px" %)Confirm whether the host computer writes parameters frequently, and modify the corresponding parameter writing method.
582 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
583 low encoder battery voltage
584
585 Warning of
586 )))|(% style="vertical-align:middle; width:383px" %)Encoder battery voltage is less than 3.1V|(% style="text-align:center; vertical-align:middle; width:121px" %)A-92|(% style="vertical-align:middle; width:593px" %)Replace with a new encoder battery
587 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
588 Encoder read and write
589
590 check abnormal and frequency is too high
591 )))|(% style="vertical-align:middle; width:383px" %)Encoder communication has timeout or CRC check error|(% style="text-align:center; vertical-align:middle; width:121px" %)A-93|(% style="vertical-align:middle; width:593px" %)Check whether the encoder wiring is disturbed
592
593 The “**✎Note” **section describes how to handle the warning of "Duplicate DI port configuration" of VD2-0XXSA1G. Due to the number of DI ports, the function codes of VD2F-0xxSA1P are different. Please refer to __[[Group P06 DI/DO configuration>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HGroupP06DIDOconfiguration]]__